Systems, apparatuses, and methods for applying glutinous substances

ABSTRACT

An apparatus (102) for delivering a glutinous substance (168) from a cartridge (166) to an applicator (254) comprises a sleeve (106) and a pressure-cap assembly (104). The pressure-cap assembly (104) comprises a pressure cap (110), proximate an inlet (124) of the sleeve (106). The pressure-cap assembly (104) also comprises an actuator (114), coupled to the pressure cap (110) and to the sleeve (106). The apparatus (102) further comprises an automated coupler (223), configured to automatically reversibly sealingly couple the applicator (254) with the leading end (167) of the cartridge (166).

BACKGROUND

Glutinous substances, such as sealants, adhesives, and fillers, areapplied onto surfaces of structures or other objects for purposes ofsealing, corrosion resistance, and/or fixation, among others. Variousmanual tools for application of glutinous substances are commerciallyavailable. However, manual application of glutinous substances islabor-intensive, time-consuming, and difficult to control to a precisetolerance.

SUMMARY

Accordingly, apparatuses and methods, intended to address at least theabove-identified concerns, would find utility.

The following is a non-exhaustive list of examples, which may or may notbe claimed, of the subject matter according to the present disclosure.

One example of the subject matter according to the present disclosurerelates to an apparatus for delivering a glutinous substance from acartridge to an applicator. The apparatus comprises a sleeve, comprisinga central axis, an inlet, and an outlet opposite the inlet. The sleeveis configured to receive the cartridge through the inlet. The apparatusalso comprises a pressure-cap assembly, coupled to the sleeve andcomprising a pressure cap, proximate the inlet of the sleeve. With thecartridge received within the sleeve, the pressure cap is movablebetween, inclusively, a closed position, in which the pressure cap is insealed engagement with a trailing end of the cartridge, and an openposition, in which the pressure cap provides clearance sufficient forinsertion of the cartridge inside the sleeve through the inlet of thesleeve. The pressure cap comprises a first pressure input, through whichpressure is selectively applied to the glutinous substance in thecartridge when the cartridge is received within the sleeve, the pressurecap is in the closed position, and a leading end of the cartridge is insealed engagement with the applicator. The pressure-cap assembly furthercomprises an actuator, coupled to the pressure cap and to the sleeve.The actuator is selectively operable to move the pressure cap relativeto the sleeve between, inclusively, the closed position and the openposition. The apparatus further comprises an automated coupler,configured to automatically reversibly sealingly couple the applicatorwith the leading end of the cartridge when the cartridge is inside thesleeve and the pressure cap is in the closed position.

Another example of the subject matter according to the presentdisclosure relates to a system for delivering a glutinous substance froma cartridge to a surface of a workpiece. The system comprises anapplicator, configured to be reversibly sealingly coupled with a leadingend of the cartridge. The system further comprises a robot, comprising atool interface. Additionally, the system comprises an apparatus,comprising a robot interface, configured to be coupled to the toolinterface of the robot. The apparatus also comprises a sleeve,comprising a central axis, an inlet, and an outlet opposite an inlet.The sleeve is configured to receive the cartridge through the inlet. Theapparatus further comprises a pressure-cap assembly, coupled to thesleeve and comprising a pressure cap. The pressure cap is proximate theinlet of the sleeve. With the cartridge received within the sleeve, thepressure cap is movable between, inclusively, a closed position, inwhich the pressure cap is in sealed engagement with a trailing end ofthe cartridge, and an open position, in which the pressure cap providesclearance sufficient for insertion of the cartridge inside the sleevethrough the inlet of the sleeve. The pressure cap comprises a firstpressure input, through which pressure is selectively applied to theglutinous substance in the cartridge when the cartridge is receivedwithin the sleeve, the pressure cap is in the closed position, and theleading end of the cartridge is in sealed engagement with theapplicator. Additionally, the pressure-cap assembly comprises anactuator, coupled to the pressure cap and to the sleeve. The actuator isselectively operable to move the pressure cap relative to the sleevebetween, inclusively, the closed position and the open position. Theapparatus also comprises an automated coupler, configured toautomatically reversibly sealingly couple the applicator with theleading end of the cartridge when the cartridge is inside the sleeve andthe pressure cap is in the closed position. The system further comprisesa controller, operatively coupled with the robot and the apparatus.

Yet another example of the subject matter according to the presentdisclosure relates to a method of delivering a glutinous substance froma cartridge to an applicator. The method comprises receiving thecartridge inside a sleeve through an inlet of the sleeve when a pressurecap, coupled to the sleeve proximate the inlet, is in an open position.The cartridge has a leading end and a trailing end. The method alsocomprises moving the pressure cap into a closed position to sealinglycouple the pressure cap with the trailing end of the cartridge.Additionally, the method comprises selectively causing an automatedcoupler to automatically sealingly couple the applicator with theleading end of the cartridge when the cartridge is inside the sleeve andthe pressure cap is in the closed position. The method further comprisesapplying pressure to the glutinous substance in the cartridge through afirst pressure input of the pressure cap to urge the glutinous substancefrom the cartridge into the applicator.

BRIEF DESCRIPTION OF THE DRAWINGS

Having thus described examples of the present disclosure in generalterms, reference will now be made to the accompanying drawings, whichare not necessarily drawn to scale, and wherein like referencecharacters designate the same or similar parts throughout the severalviews, and wherein:

FIG. 1A is a block diagram of a system for delivering a glutinoussubstance from a cartridge to a surface of a workpiece, wherein thesystem includes an apparatus for delivering the glutinous substance fromthe cartridge to an applicator, according to one or more examples of thepresent disclosure;

FIG. 1B is a block diagram of a contact regulator and an automatedcoupler of the system of FIG. 1A, according to one or more examples ofthe present disclosure;

FIG. 2 is a schematic, perspective view of the apparatus of FIG. 1A,according to one or more examples of the present disclosure;

FIG. 3 is a schematic, elevation view of the apparatus of FIG. 1A,according to one or more examples of the present disclosure;

FIG. 4 is a schematic, cross-sectional elevation view of the apparatusof FIG. 1A, according to one or more examples of the present disclosure;

FIG. 5 is a schematic, elevation view of the system of FIG. 1A,according to one or more examples of the present disclosure;

FIG. 6 is a schematic, perspective view of the contact regulator and theautomated coupler of FIG. 1B, according to one or more examples of thepresent disclosure;

FIG. 7 is a schematic, elevation view of the contact regulator and theautomated coupler of FIG. 1B, according to one or more examples of thepresent disclosure;

FIG. 8 is a schematic, cross-sectional elevation view of the contactregulator and the automated coupler of FIG. 1B, according to one or moreexamples of the present disclosure;

FIG. 9 is a schematic, cross-sectional elevation view of the contactregulator and the automated coupler of FIG. 1B, according to one or moreexamples of the present disclosure;

FIG. 10A is a schematic, cross-sectional elevation view of the contactregulator and the automated coupler of FIG. 1B, according to one or moreexamples of the present disclosure;

FIG. 10B is a schematic, cross-sectional elevation view of the contactregulator and the automated coupler of FIG. 1B, according to one or moreexamples of the present disclosure;

FIG. 11A is a schematic, cross-sectional elevation view of the contactregulator and the automated coupler of FIG. 1B, according to one or moreexamples of the present disclosure;

FIG. 11B is a schematic, cross-sectional elevation view of the contactregulator and the automated coupler of FIG. 1B, according to one or moreexamples of the present disclosure;

FIG. 12 is a schematic, cross-sectional elevation view of the contactregulator and the automated coupler of FIG. 1B, according to one or moreexamples of the present disclosure;

FIG. 13 is a schematic, exploded perspective view of the automatedcoupler of FIG. 1B, according to one or more examples of the presentdisclosure;

FIG. 14 is a schematic, cross-sectional elevation view of the contactregulator and the automated coupler of FIG. 1B, according to one or moreexamples of the present disclosure;

FIG. 15 is a schematic, perspective view of the apparatus of FIG. 1A,according to one or more examples of the present disclosure;

FIG. 16 is a schematic, cross-sectional perspective view of theapparatus of FIG. 1A, according to one or more examples of the presentdisclosure;

FIG. 17 is a schematic, partial cross-sectional elevation view of thecontact regulator and the automated coupler of FIG. 1B, according to oneor more examples of the present disclosure;

FIGS. 18A, 18B, and 18C collectively are a block diagram of a method ofutilizing the system of FIG. 1A, according to one or more examples ofthe present disclosure;

FIG. 19 is a block diagram of aircraft production and servicemethodology; and

FIG. 20 is a schematic illustration of an aircraft.

DETAILED DESCRIPTION

In FIGS. 1A and 1B, referred to above, solid lines, if any, connectingvarious elements and/or components may represent mechanical, electrical,fluid, optical, electromagnetic and other couplings and/or combinationsthereof. As used herein, “coupled” means associated directly as well asindirectly. For example, a member A may be directly associated with amember B, or may be indirectly associated therewith, e.g., via anothermember C. It will be understood that not all relationships among thevarious disclosed elements are necessarily represented. Accordingly,couplings other than those depicted in the block diagrams may alsoexist. Dashed lines, if any, connecting blocks designating the variouselements and/or components represent couplings similar in function andpurpose to those represented by solid lines; however, couplingsrepresented by the dashed lines may either be selectively provided ormay relate to alternative examples of the present disclosure. Likewise,elements and/or components, if any, represented with dashed lines,indicate alternative examples of the present disclosure. One or moreelements shown in solid and/or dashed lines may be omitted from aparticular example without departing from the scope of the presentdisclosure. Environmental elements, if any, are represented with dottedlines. Virtual (imaginary) elements may also be shown for clarity. Thoseskilled in the art will appreciate that some of the features illustratedin FIGS. 1A and 1B may be combined in various ways without the need toinclude other features described in FIGS. 1A and 1B, other drawingfigures, and/or the accompanying disclosure, even though suchcombination or combinations are not explicitly illustrated herein.Similarly, additional features not limited to the examples presented,may be combined with some or all of the features shown and describedherein.

In FIGS. 18A, 18B, 18C, and 19 referred to above, the blocks mayrepresent operations and/or portions thereof and lines connecting thevarious blocks do not imply any particular order or dependency of theoperations or portions thereof. Blocks represented by dashed linesindicate alternative operations and/or portions thereof. Dashed lines,if any, connecting the various blocks represent alternative dependenciesof the operations or portions thereof. It will be understood that notall dependencies among the various disclosed operations are necessarilyrepresented. FIGS. 18A, 18B, 18C, and 19 and the accompanying disclosuredescribing the operations of the method(s) set forth herein should notbe interpreted as necessarily determining a sequence in which theoperations are to be performed. Rather, although one illustrative orderis indicated, it is to be understood that the sequence of the operationsmay be modified when appropriate. Accordingly, certain operations may beperformed in a different order or simultaneously. Additionally, thoseskilled in the art will appreciate that not all operations describedneed be performed.

In the following description, numerous specific details are set forth toprovide a thorough understanding of the disclosed concepts, which may bepracticed without some or all of these particulars. In other instances,details of known devices and/or processes have been omitted to avoidunnecessarily obscuring the disclosure. While some concepts will bedescribed in conjunction with specific examples, it will be understoodthat these examples are not intended to be limiting.

Unless otherwise indicated, the terms “first,” “second,” etc. are usedherein merely as labels, and are not intended to impose ordinal,positional, or hierarchical requirements on the items to which theseterms refer. Moreover, reference to, e.g., a “second” item does notrequire or preclude the existence of, e.g., a “first” or lower-numbereditem, and/or, e.g., a “third” or higher-numbered item.

Reference herein to “one example” means that one or more feature,structure, or characteristic described in connection with the example isincluded in at least one implementation. The phrase “one example” invarious places in the specification may or may not be referring to thesame example.

As used herein, a system, apparatus, structure, article, element,component, or hardware “configured to” perform a specified function isindeed capable of performing the specified function without anyalteration, rather than merely having potential to perform the specifiedfunction after further modification. In other words, the system,apparatus, structure, article, element, component, or hardware“configured to” perform a specified function is specifically selected,created, implemented, utilized, programmed, and/or designed for thepurpose of performing the specified function. As used herein,“configured to” denotes existing characteristics of a system, apparatus,structure, article, element, component, or hardware which enable thesystem, apparatus, structure, article, element, component, or hardwareto perform the specified function without further modification. Forpurposes of this disclosure, a system, apparatus, structure, article,element, component, or hardware described as being “configured to”perform a particular function may additionally or alternatively bedescribed as being “adapted to” and/or as being “operative to” performthat function.

Illustrative, non-exhaustive examples, which may or may not be claimed,of the subject matter according the present disclosure are providedbelow.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2-5 and 15, apparatus 102 for delivering glutinous substance 168 fromcartridge 166 to applicator 254 is disclosed. Apparatus 102 comprisessleeve 106, comprising central axis 121, inlet 124, and outlet 128opposite inlet 124. Sleeve 106 is configured to receive cartridge 166through inlet 124. Apparatus 102 also comprises pressure-cap assembly104, coupled to sleeve 106. Pressure-cap assembly 104 comprises pressurecap 110, proximate inlet 124 of sleeve 106. With cartridge 166 receivedwithin sleeve 106, pressure cap 110 is movable between, inclusively, aclosed position, in which pressure cap 110 is in sealed engagement withtrailing end 169 of cartridge 166, and an open position, in whichpressure cap 110 provides clearance sufficient for insertion ofcartridge 166 inside sleeve 106 through inlet 124 of sleeve 106.Pressure cap 110 comprises first pressure input 118, through whichpressure is selectively applied to glutinous substance 168 in cartridge166 when cartridge 166 is received within sleeve 106, pressure cap 110is in the closed position, and leading end 167 of cartridge 166 is insealed engagement with applicator 254. Pressure-cap assembly 104 furthercomprises actuator 114, coupled to pressure cap 110 and to sleeve 106.Actuator 114 is selectively operable to move pressure cap 110 relativeto sleeve 106 between, inclusively, the closed position and the openposition. Apparatus 102 further comprises automated coupler 223,configured to automatically reversibly sealingly couple applicator 254with leading end 167 of cartridge 166 when cartridge 166 is insidesleeve 106 and pressure cap 110 is in the closed position. The precedingsubject matter of this paragraph characterizes example 1 of the presentdisclosure.

Apparatus 102 is configured to facilitate a reduction in the labor,time, and inaccuracies associated with the application of glutinoussubstances onto surfaces of workpieces. Cartridge 166 of apparatus 102provides modular containment of glutinous substance 168. Sleeve 106 ofapparatus 102 enables a secure coupling of cartridge 166 to apparatus102. Pressure-cap assembly 104 allows both access to sleeve 106 for theinsertion of cartridge 166 into sleeve 106 and the application ofpressure to cartridge 166 for urging glutinous substance 168 out ofsleeve 106. Actuator 114 facilitates automated actuation of pressure-capassembly 104. With cartridge 166 received within sleeve 106 and pressurecap 110 in a closed position, cartridge 166 is sealed with applicator154 to enable sealed flow of glutinous substance 168 from cartridge 166to applicator 154 via the application of pressure to glutinous substance168 in cartridge 166. Automated coupler 223 facilitates quick automatedcoupling of applicator 254 with apparatus 102 and quick automatedreleasing of applicator 254 from apparatus 102. As used herein, a firstobject is reversibly coupleable to a second object when the first objectcan be repeatedly coupled to the second object and decoupled from thesecond object without permanent deformation of, damage to, ordestruction of either the first object or the second object.

Apparatus 102 can include pressure tubes 138, 267A, 269A, 267B, 269B tofacilitate the communication of pressure to and from various componentsof apparatus 102. For example, pressure tubes 138 may communicatepressure to pressure inputs 118. As an example, pressure tubes 138 maycommunicate pressure to and from actuator 114 to facilitate selectiveoperation of actuator 114. Also, pressure tubes 138 may communicatepressure to second and third pressure inputs 238, 240 to controloperation of automated coupler 223 and to sixth and seventh pressureinputs 214, 216 to control operation of sleeve interface 200 of contactregulator 201. Furthermore, one or more pressure tubes 138 maycommunicate pressure to eighth pressure inputs 274 to control operationof biasing mechanisms 217. According to yet another example, pressuretubes 267A, 269A can communicate pressure to fourth and fifth pressureinputs 290A, 292A and pressure tubes 267B, 269B can communicate pressureto first and second pressure outputs 290B, 292B to control operation ofapplicator 254.

In some examples, various components of apparatus 102 are fixed tosleeve 106 via clamps 116, 132, 150. For example, actuator 114 is fixedto sleeve 106 by clamp 116 and brackets 148 are fixed to sleeve 106 byclamps 132, 150. According to other examples, the various components ofapparatus 102 are fixed to sleeve 106 using other fixation techniques,such as fastening, adhering, co-forming, and the like.

Actuator 114 can be any of various actuators known in the art, such aslinear actuators and rotary actuators, powered in any of various ways,such as pneumatically, electromagnetically, electrically, hydraulically,and the like. Pressure inputs 118, 214, 216, 238, 240, 274, 290A, 292Aand pressure outputs 290B, 292B, can be pneumatic fittings in someexamples. As used herein, a central axis of an object is a longitudinalsymmetry axis of the object.

As defined herein, an object that is movable between, inclusively, twopositions means the object can be moved into the two positions.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2-5 and 15, the pressure, selectively applied to glutinous substance 168in cartridge 166 through first pressure input 118 of pressure cap 110 ispneumatic pressure. The preceding subject matter of this paragraphcharacterizes example 2 of the present disclosure, wherein example 2also includes the subject matter according to example 1, above.

Selective introduction of pneumatic pressure to first pressure input 118of pressure cap 110 enables precise application of pneumatic pressure toglutinous substance 168 in cartridge 166 to precisely control the flowof glutinous substance 168 out of cartridge 166 and into applicator 154.Moreover, selective introduction of pneumatic pressure to first pressureinput 118 of pressure cap 110 facilitates the use of automated pneumaticcontrols to control the pneumatic operation of first pressure input 118of pressure cap 110.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIG.4, pressure cap 110 further comprises gasket 111, configured to form aseal between pressure cap 110 and interior surface 113 of cartridge 166when pressure cap 110 is in the closed position and applicator 254 iscoupled with leading end 167 of cartridge 166. The preceding subjectmatter of this paragraph characterizes example 3 of the presentdisclosure, wherein example 3 also includes the subject matter accordingto any one of examples 1 or 2, above.

Gasket 111, by forming seal between pressure cap 110 and interiorsurface 113 of cartridge 166, facilitates the containment of pressurefrom first pressure input 118 of pressure cap 110 to within cartridge166.

Gasket 111 can be an o-ring made from a pliable or compressiblematerial, such as rubber, silicone, and plastic polymers.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2-4 and 15, pressure-cap assembly 104 further comprises arm 115,pivotable about axis 117 that is fixed relative to sleeve 106 and isperpendicular to central axis 121 of sleeve 106. Pressure cap 110 iscoupled with arm 115. The preceding subject matter of this paragraphcharacterizes example 4 of the present disclosure, wherein example 4also includes the subject matter according to any one of examples 1-3,above.

Arm 115, being pivotable about axis 117 that is fixed relative to sleeve106 and is perpendicular to central axis 121 of sleeve 106, enablespressure cap 110 to be moved between the closed position, to sealinglyengage trailing end 169 of cartridge 166, and the open position, toprovide clearance sufficient for insertion of cartridge 166 insidesleeve 106 through inlet 124 of sleeve 106 and ejection of cartridge 166from sleeve 106. In other words, arm 115 allows pressure cap 110 to bepivoted into sealed engagement with cartridge 166 and pivoted away fromcartridge 166 to allow cartridge 166 to be inserted into or removed fromsleeve 106.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2-4 and 15, pressure-cap assembly 104 further comprises first lockmechanism 112, mechanically coupling arm 115 with actuator 114. Firstlock mechanism 112 is configured to releasably lock pressure cap 110 inthe closed position by releasably locking arm 115 relative to sleeve106. The preceding subject matter of this paragraph characterizesexample 5 of the present disclosure, wherein example 5 also includes thesubject matter according to example 4, above.

Using first lock mechanism 112 to releasably lock pressure cap 110 inthe closed position by releasably locking arm 115 relative to sleeve 106prevents disengagement between pressure cap 110 and cartridge 166 shouldactuator 114 fail. In other words, in the event actuator 114 fails tourge pressure cap 110 in closed position, such as due to loss ofpressure to or malfunction of actuator 114, while pressure is applied toglutinous substance 168 in cartridge 166, first lock mechanism 112 lockspressure cap 110 in the closed position to prevent pressure withincartridge 116 from inadvertently moving pressure cap 110 out of theclosed position.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., 2-4and 15, actuator 114 is selectively operable to move first lockmechanism 112 between, inclusively, a locked position, in which arm 115is releasably locked relative to sleeve 106 so pressure cap 110 isreleasably locked in the closed position, and an unlocked position, inwhich arm 115 is arranged relative to sleeve 106 so that pressure cap110 is in the open position. The preceding subject matter of thisparagraph characterizes example 6 of the present disclosure, whereinexample 6 also includes the subject matter according to example 5,above.

Actuator 114 is configured to enable first lock mechanism 112 to unlockpressure cap 110 and allow pressure cap 110 to move out of the closedposition by moving first lock mechanism 112 relative to arm 115, viaselective operation of actuator 114, while pressure cap 110 is sealinglyengaged with cartridge 166. In other words, first lock mechanism 112 inthe locked position will lock pressure cap 110 in the closed positionuntil actuator 114 moves first lock mechanism 112 relative to pressurecap 110 to unlock first lock mechanism 112 and move pressure cap 110into the open position.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2-4 and 15, actuator 114 is pneumatically operable. When first lockmechanism 112 is in the locked position, first lock mechanism 112 isconfigured to remain in the locked position if actuator 114 losespressure. The preceding subject matter of this paragraph characterizesexample 7 of the present disclosure, wherein example 7 also includes thesubject matter according to example 6, above.

In the event actuator 114 loses pressure, while pressure is applied toglutinous substance 168 in cartridge 166, first lock mechanism 112 lockspressure cap 110 in the closed position to prevent pressure withincartridge 116 from inadvertently moving pressure cap 110 out of theclosed position.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2-4 and 15, first lock mechanism 112 comprises an over-center linkage.The preceding subject matter of this paragraph characterizes example 8of the present disclosure, wherein example 8 also includes the subjectmatter according to any one of examples 5-7, above.

The over-center linkage of first lock mechanism 112 enables quick, easy,and effective locking and unlocking of the lock mechanism.

The over-center linkage can be a passive lock mechanism that is simplyconstructed, yet effective at preventing backdriving. For example, theover-center linkage includes first and second linkages eachindependently pivotable about the same first axis. The first linkage ispivotally fixed to arm 115 and pivots about a second axis. The secondlinkage is pivotally fixed relative to sleeve 106 and pivots about athird axis. As arm 115 rotates to move pressure cap 110 toward closedposition, the first linkage rotates about the first axis in a firstrotational direction and the second linkage rotates about the first axisin a second rotational direction opposite the first rotational directionuntil the first, second, and third axes are aligned, which positions theover-center linkage in an over-center position. Further rotation of arm115 to move pressure cap 110 into the closed position results in theover-center linkage moving beyond the over-center position, which locksarm 115 and prevents arm 115 from rotating pressure cap 110 toward theopen position. The over-center linkage is unlocked to allow arm 115 torotate pressure cap 110 toward the open position by concurrentlypivoting, via actuator 114, the first linkage about the first axis inthe second rotational direction and pivoting the second linkage aboutthe first axis in the first rotational direction until the over-centerlinkage moves into and beyond the over-center position.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2, 3, and 15, pressure cap 110 is pivotable relative to arm 115.Pressure-cap assembly 104 further comprises biasing element 122,configured to torsionally bias pressure cap 110 relative to arm 115. Thepreceding subject matter of this paragraph characterizes example 9 ofthe present disclosure, wherein example 9 also includes the subjectmatter according to any one examples 4-8, above.

Because arm 115, to which pressure cap 110 is coupled, rotates to movepressure cap 110 into the closed positioned, in sealed engagement withtrailing end 169 of cartridge 166, enabling pressure cap 110 to pivotrelative to arm 115 allows pressure cap 110 to maintain coaxialalignment with trailing end 169 of cartridge 166 as arm 115 rotates. Bytorsionally biasing pressure cap 110, biasing element 122 ensurespressure cap 110 is coaxially aligned with trailing end 169 of cartridge166 as pressure cap 110 initially engages trailing end 169 of cartridge166. In this manner, pressure cap 110 can properly engage and seatwithin trailing end 169 of cartridge 166 without binding with orcrookedly entering trailing end 169 of cartridge 166. As used herein, to“torsionally bias” means to continuously apply a moment, which may ormay not have a constant magnitude, but is always applied in the samedirection and has a magnitude greater than zero.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2, 3, and 15, biasing element 122 comprises a torsion spring. Thepreceding subject matter of this paragraph characterizes example 10 ofthe present disclosure, wherein example 10 also includes the subjectmatter according to example 9, above.

A torsion spring facilitates a passive and simple way to torsionallybias pressure cap 110 relative to arm 115.

The torsion spring can be coupled at one end to arm 115 and at anotherend to pressure cap 110. In some examples, the torsion spring includes acoiled or twisted torsion bar that biases one end of the torsion springrelative to the other end of the torsion spring.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.3 and 15, apparatus 102 further comprises control valve 180,pneumatically coupled to first pressure input 118 of pressure cap 110and to actuator 114. Control valve 180 is configured to disableoperation of actuator 114 by preventing pressure from being communicatedto actuator 114 when, with pressure cap 110 in the closed position,pressure is applied to glutinous substance 168 in cartridge 166 throughfirst pressure input 118. The preceding subject matter of this paragraphcharacterizes example 11 of the present disclosure, wherein example 11also includes the subject matter according to any one of examples 1-10,above.

Control valve 180 prevents actuator 114 from inadvertently openingpressure cap 110 while pressure is being applied to glutinous substance168 in cartridge 166 through first pressure input 118. Preventingpressure cap 110 from opening while pressure is being applied toglutinous substance 168 due to inadvertent actuation of actuator 114ensures pressure within cartridge 166 is not inadvertently released.

In some examples, control valve 180 is a two-way, normally open,air-piloted valve manufactured, e.g., by Clippard Instrument Laboratory,Inc. of Cincinnati, Ohio.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2, 3, 5, and 17, apparatus 102 further comprises sensor 256, configuredto be coupled to applicator 254. The preceding subject matter of thisparagraph characterizes example 12 of the present disclosure, whereinexample 12 also includes the subject matter according to any one ofexamples 1-11, above.

Sensor 256 enables detection of one or more characteristics of glutinoussubstance 168 in applicator 254. The characteristics of glutinoussubstance 168 in applicator 254 detected by sensor 256 can be used tocontrol the rate at which glutinous substance 168 flows from cartridge166 to applicator 254. Additionally, the characteristics of glutinoussubstance 168 in applicator 254 detected by sensor 256 can be used tocontrol applicator 254 to regulate the rate at which glutinous substance168 flows from applicator 254 to surface 172 of workpiece 170. Further,in some examples, sensor 256 being configured to be coupled toapplicator 254 allows pressure sensor 158 to remain part of applicator254 as applicator 254 is coupled to and decoupled from apparatus 102 viaselective operation of automated coupler 223.

According to some examples, sensor 256 is a pressure sensor, atemperature sensor, a combination pressure-temperature sensor, or twosensors (one pressure and one temperature).

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2, 3, 5, and 17, sensor 256 is a pressure sensor. The preceding subjectmatter of this paragraph characterizes example 13 of the presentdisclosure, wherein example 13 also includes the subject matteraccording to example 12, above.

The pressure sensor enables detection of the pressure of glutinoussubstance 168 in applicator 154. The pressure of glutinous substance 168in applicator 154, detected by the pressure sensor, can be used tocontrol the rate at which glutinous substance 168 flows from cartridge166 to applicator 154. Additionally, the pressure of glutinous substance168 in applicator 254 detected by the pressure sensor can be used tocontrol applicator 254 to regulate the rate at which glutinous substance168 flows from applicator 254 to surface 172 of workpiece 170.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2, 3, 5, and 17, sensor 256 is a temperature sensor. The precedingsubject matter of this paragraph characterizes example 14 of the presentdisclosure, wherein example 14 also includes the subject matteraccording to any one of examples 12 or 13, above.

The temperature sensor enables detection of the temperature of glutinoussubstance 168 in applicator 154. The temperature of glutinous substance168 in applicator 154, detected by the temperature sensor, can be usedto control the rate at which glutinous substance 168 flows fromcartridge 166 to applicator 154. Additionally, the temperature ofglutinous substance 168 in applicator 254 detected by the temperaturesensor can be used to control applicator 254 to regulate the rate atwhich glutinous substance 168 flows from applicator 254 to surface 172of workpiece 170.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIG.5, apparatus 102 further comprises robot interface 136, coupled withsleeve 106 and configured to be releasably coupled to robot 152. Thepreceding subject matter of this paragraph characterizes example 15 ofthe present disclosure, wherein example 15 also includes the subjectmatter according to any one of examples 1-14, above.

Robot interface 136 promotes quick coupling of apparatus 102 with robot152 and quick releasing of apparatus 102 from robot 152. Additionally,robot interface 136 facilitates quick coupling of communication linesbetween apparatus 102 and robot 152. For example, robot interface 136may enable automated coupling of apparatus 102 with robot 152 andautomated releasing of apparatus 102 from robot 152.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2-5 and 15, apparatus 102 further comprises brackets 148, coupled withsleeve 106. Brackets 148 are configured to engage tool stand 196. Thepreceding subject matter of this paragraph characterizes example 16 ofthe present disclosure, wherein example 16 also includes the subjectmatter according to any one of examples 1-15, above.

Brackets 148 facilitate engagement with tool stand 196 for storingapparatus 102 when not in use.

According to some examples, brackets include apertures that receiverespective engagement features of tool stand 196.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2-17, automated coupler 223 comprises applicator mount 244, configuredto fixedly receive applicator 254. Automated coupler 223 furthercomprises engagement assembly 224, coupled to sleeve 106. Engagementassembly 224 is configured to releasably interlock with applicator mount244. The preceding subject matter of this paragraph characterizesexample 17 of the present disclosure, wherein example 17 also includesthe subject matter according to any one of examples 1-16, above.

Releasable interlock between engagement assembly 224 and applicatormount 244 promotes a secure, yet releasable, coupling of applicatormount 244 to engagement assembly 224. Furthermore, in some examples,engagement assembly 224 communicatively interfaces with controller 157via apparatus 102, and communicatively interfaces with applicator mount244, such that releasably interlocking applicator mount 244 withengagement assembly 224 automatically communicatively interfacesapplicator mount 244 with controller 157. In this manner, in certainexamples, automated coupling of applicator 254 with apparatus 102 byautomated coupler 223 also facilitates automated interfacing with andcontrol of applicator 254 by controller 157. Accordingly, in certainexamples, automated coupler 223 promotes physical and operationalcoupling of applicator 254 with apparatus 102 by effectively eliminatingneed to manually couple components of apparatus 102 with applicatormount 244 and applicator 254 after applicator mount 144 is releasablyinterlocked with engagement assembly 224.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.8-14, 16, and 17, applicator mount 244 comprises geometric feature 250.Engagement assembly 224 comprises at least one detent 234. Engagementassembly 224 also comprises piston 230, movable relative to sleeve 106in one of a first direction along central axis 121 of sleeve 106, tocause at least one detent 234 to couple engagement assembly 224 withapplicator mount 244 by engaging geometric feature 250 of applicatormount 244, or a second direction along central axis 121 of sleeve 106,opposite to the first direction, to cause at least one detent 234 todecouple engagement assembly 224 from applicator mount 244 bydisengaging geometric feature 250 of applicator mount 244. Engagementassembly 224 further comprises second pressure input 238, through whichpressure is selectively introduced to move piston 230 relative to sleeve106 in the first direction along central axis 121 of sleeve 106 to afirst position to cause at least one detent 234 to couple applicatormount 244 with engagement assembly 224 by engaging geometric feature 250of applicator mount 244. Also, engagement assembly 224 comprises thirdpressure input 240, through which pressure is selectively introduced tomove piston 230 relative to sleeve 106 in the second direction alongcentral axis 121 of sleeve 106 to a second position to cause at leastone detent 234 to decouple applicator mount 244 from engagement assembly224 by disengaging geometric feature 250 of applicator mount 244. Thepreceding subject matter of this paragraph characterizes example 18 ofthe present disclosure, wherein example 18 also includes the subjectmatter according to example 17, above.

Moving piston 230 relative to sleeve 106 along central axis 121 ofsleeve 106 to cause at least one detent 234 to engage and disengagegeometric feature 250 of applicator mount 244 promotes reliablereleasable interlocking between engagement assembly 224 and applicatormount 244. Moreover, moving piston 230 in opposite directions withpressure from first pressure input 238 and second pressure input 240facilitates precise control of the coupling of applicator mount 244 withengagement assembly 224 and the decoupling of applicator mount 244 fromengagement assembly 224.

For purposes of this disclosure, “along” means coincident with orparallel to.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.8-13, 14, 16, and 17, geometric feature 250 comprises first surface 253,oblique to central axis 121. The preceding subject matter of thisparagraph characterizes example 19 of the present disclosure, whereinexample 19 also includes the subject matter according to example 18,above.

First surface 253 of geometric feature 250, being oblique to centralaxis 121 of sleeve 106, promotes confinement of at least one detent 234in a direction perpendicular to central axis 121 of sleeve 106.Additionally, first surface 253 of geometric feature 250, being obliqueto central axis 121 of sleeve 106, promotes an engagement between atleast one detent 234 and geometric feature 250 of applicator mount 244that confines movement of applicator mount 244 relative to engagementassembly 224 in direction parallel to central axis 121 of sleeve 106.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.8-13, 14, 16, and 17, piston 230 comprises second surface 231, obliqueto central axis 121. First surface 253 of geometric feature 250 andsecond surface 231 of piston 230 are configured to confine at least onedetent 234 therebetween in a direction perpendicular to central axis 121when piston 230 is in the first position. The preceding subject matterof this paragraph characterizes example 20 of the present disclosure,wherein example 20 also includes the subject matter according to example19, above.

First surface 253 of geometric feature 250 and second surface 231 ofpiston 230, being oblique to central axis 121 of sleeve 106, promoteconfinement of at least one detent 234 in a direction perpendicular tocentral axis 121 of sleeve 106. In some examples, first surface 253 ofgeometric feature 250 and second surface 231 of piston 230 face eachother to effectively wedge at least one detent 234 between first surface253 and second surface 231. Additionally, second surface 231 of piston230, being oblique to central axis 121 of sleeve 106, facilitatesmovement of at least one detent 234 in direction substantiallyperpendicular to central axis 121 of sleeve 106 upon contact with atleast one detent 234.

In some examples, piston 230 comprises engagement sleeve 232, configuredto directly engage at least one detent 234. According to certainexamples, engagement sleeve 232 comprises one of second surface 231 andthird surface 251. In one example, engagement sleeve 232 comprises bothsecond surface 231 and third surface 251. Engagement sleeve 232 can betubular-shaped and configured to fit around a protruding portion ofpiston 230. According to an example, engagement sleeve 232 is made froma first material and other portions of piston 230 are made from a secondmaterial, different than the first material. The first material can bestronger or harder than the second material. For example, the firstmaterial may be a metal and the second material may be a polymericmaterial.

As used herein, “confine” means to prevent all movement in a particulardirection.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.8-13, 14, 16, and 17, piston 230 comprises third surface 251, parallelto central axis 121. First surface 253 of geometric feature 250 andthird surface 251 of piston 230 are configured to confine at least onedetent 234 therebetween in a direction perpendicular to central axis 121when piston 230 is in the first position. The preceding subject matterof this paragraph characterizes example 21 of the present disclosure,wherein example 21 also includes the subject matter according to any oneof examples 19 or 20, above.

First surface 253 of geometric feature 250 and third surface 251 ofpiston 230 promote confinement of at least one detent 234 in a directionperpendicular to central axis 121 of sleeve 106. In some examples, firstsurface 253 of geometric feature 250 and third surface 251 of piston 230face each other to effectively wedge at least one detent 234 betweenfirst surface 253 and third surface 251.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.8-12, 14, 16, and 17, engagement assembly 224 further comprises spring228, configured to bias piston 230 in the first direction to cause atleast one detent 234 to be confined between geometric feature 250 andpiston 230 in a direction perpendicular to central axis 121 when piston230 is in the first position. The preceding subject matter of thisparagraph characterizes example 22 of the present disclosure, whereinexample 22 also includes the subject matter according to any one ofexamples 18-21, above.

Spring 228 helps to ensure engagement between at least one detent 234and geometric feature 250 of applicator mount 244 if second pressureinput 238 of engagement assembly 224 fails when piston 230 is in thefirst position. Accordingly, spring 228 helps to ensure applicator mount244 and engagement assembly 224 remain interlocked should secondpressure input 238 of engagement assembly 224 fail to apply pressure topiston 230.

Spring 228 can be a compression spring or other similar biasing elementknown in the art. As used herein, “to bias” means to continuously applya force, which may or may not have a constant magnitude, but is alwaysapplied in the same direction and has a magnitude greater than zero.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.8-12, 14, 16, and 17, engagement assembly 224 further comprises detenthousing 235, configured to confine movement of at least one detent 234along central axis 121 of sleeve 106. The preceding subject matter ofthis paragraph characterizes example 23 of the present disclosure,wherein example 23 also includes the subject matter according to any oneof examples 18-22, above.

Detent housing 235 enables confinement of movement of at least onedetent 234 in a direction parallel to central axis 121 of sleeve 106 andfacilitates movement of at least one detent 234 in a directionperpendicular to central axis 121 of sleeve 106.

According to one example, detent housing 235 has a tubular shape with atleast one aperture formed in a sidewall of detent housing 235. The atleast one aperture has an axis perpendicular to central axis 121 ofsleeve. At least one detent 234 is positioned within the at least oneaperture, which is configured to allow at least one detent 234 to movealong the axis of the at least one aperture.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.8-14, engagement assembly 224 comprises first alignment feature 236.Applicator mount 244 comprises second alignment feature 248. Firstalignment feature 236 of engagement assembly 224 and second alignmentfeature 248 of applicator mount 244 are configured to mate with eachother to concentrically align engagement assembly 224 and applicatormount 244. The preceding subject matter of this paragraph characterizesexample 24 of the present disclosure, wherein example 24 also includesthe subject matter according to any one of examples 18-23, above.

First alignment feature 236 and second alignment feature 248 facilitateconcentric alignment and rotational alignment of engagement assembly 224and applicator mount 244, which helps to ensure applicator mount 244 andengagement assembly 224 are properly releasably interlocked. Forexample, mating of first alignment feature 236 and second alignmentfeature 248 promotes proper sealing engagement between applicator 254and adapter tube 226 and proper engagement between at least one detent234 and geometric feature 250 of applicator mount 244. Additionally,mating of first alignment feature 236 and second alignment feature 248ensures first fluid conduit 267A is concentrically aligned with thirdfluid conduit 267B, and second fluid conduit 269A is concentricallyaligned with fourth fluid conduit 269B.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.8-14, first alignment feature 236 of engagement assembly 224 is a firstone of a shank or a receiver. Second alignment feature 248 of applicatormount 244 is a second one of the shank or the receiver. At least aportion of first alignment feature 236 of engagement assembly 224 isgeometrically complementary with at least a portion of second alignmentfeature 248 of applicator mount 244. The preceding subject matter ofthis paragraph characterizes example 25 of the present disclosure,wherein example 25 also includes the subject matter according to example24, above.

The portion of first alignment feature 236 and the portion of secondalignment feature 248 being geometric complements ensures a precise fitbetween first alignment feature 236 and second alignment feature 248,which helps to properly position applicator mount 244 relative toengagement assembly 224 for a precise and reliable interlock betweenapplicator mount 244 and engagement assembly 224.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.8-14, the shank and the receiver comprise complementary taperedportions. The preceding subject matter of this paragraph characterizesexample 26 of the present disclosure, wherein example 26 also includesthe subject matter according to example 25, above.

The complementary tapered portions of the shank and the receiver help toguide applicator mount 244 into proper position relative to engagementassembly 224 for releasably interlocking engagement assembly 224 withapplicator mount 244. For example, the complementary tapered portion ofthe receiver provides a relatively large area for reception of arelatively small leading end of the complementary tapered portion of theshank, which promotes initial engagement between the shank and thereceiver, as well as gradual adjustment of the angular and rotationalposition of applicator mount 244 relative to engagement assembly 224 asthe shank is inserted into the receiver.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.8-14, the shank and the receiver comprise complementary portions,parallel to central axis 121 of sleeve 106. The preceding subject matterof this paragraph characterizes example 27 of the present disclosure,wherein example 27 also includes the subject matter according to example25, above.

The complementary tapered portions of the shank and the receiver, beingparallel to central axis 121 of sleeve 106, promote concentric alignmentof applicator mount 244 with engagement assembly 224 and central axis121 of sleeve 106.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.4, 8-12, 14, 16, and 17, apparatus 102 further comprises adapter tube226, configured to communicatively couple cartridge 166 in sleeve 206with applicator 254 when applicator mount 244 is releasably interlockedwith engagement assembly 224. The preceding subject matter of thisparagraph characterizes example 28 of the present disclosure, whereinexample 28 also includes the subject matter according to any one ofexamples 17-27, above.

Adapter tube 226 facilitates communicative coupling between applicator254, when applicator 254 is fixed to applicator mount 244 andapplication mount 244 is releasably interlocked with engagement assembly224, and cartridge 166. For example, adapter tube 226 provides a fluidconduit through which glutinous substance 168 can flow from cartridge166 to applicator 254.

In some examples, adapter tube 226 includes cartridge interface 260,configured to sealingly receive leading end 167 of cartridge 166.Furthermore, in certain examples, adapter tube 226 is non-movablyfixedly coupled to sleeve interface 200 via one or more set screws 262.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., 4,8-12, 14, 16, and 17, with cartridge 166 received within sleeve 106 andpressure cap 110 in the closed position, adapter tube 226 sealinglyengages leading end 167 of cartridge 166. The preceding subject matterof this paragraph characterizes example 29 of the present disclosure,wherein example 29 also includes the subject matter according to example28, above.

Sealing engagement between adapter tube 226 and leading end 167 ofcartridge 166 facilitates containment of glutinous substance 168 as itflows from cartridge 166 to adapter tube 226.

In some examples, sealing engagement between adapter tube 226 andleading end 167 of cartridge 166 is provided by a seal, such as anO-ring, between mating surfaces of adapter tube 266 and cartridge 166.According to one example, adapter tube 226 comprises a male connectorthat is configured to be inserted into a female connector at leading end167 of cartridge 166.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.4, 8-12, 14, 16, and 17, adapter tube 226 is configured to sealinglyengage applicator 254 when applicator mount 244 is releasablyinterlocked with engagement assembly 224. The preceding subject matterof this paragraph characterizes example 30 of the present disclosure,wherein example 30 also includes the subject matter according to example29, above.

Sealing engagement between adapter tube 226 and applicator 254facilitates containment of glutinous substance 168 as it flows fromadapter tube 226 to applicator 254.

In some examples, sealing engagement between adapter tube 226 andapplicator 254 is provided by a seal, such as an O-ring, between matingsurfaces of adapter tube 266 applicator 254. According to one example,adapter tube 226 comprises a female connector that is configured toreceive a male connector of applicator 254.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., 4,8-12, 14, 16, and 17, adapter tube 226 is fixed relative to sleeve 106.Applicator 254 is movable relative to adapter tube 226 along centralaxis 121 of sleeve 106 when applicator mount 244 is releasablyinterlocked with engagement assembly 224 and when applicator 254 issealingly engaged with adapter tube 226. The preceding subject matter ofthis paragraph characterizes example 31 of the present disclosure,wherein example 31 also includes the subject matter according to example30, above.

Configuring applicator 254 to move relative to adapter tube 226, whenapplicator 254 is sealingly engaged with adaptor tube 226, promotescompliancy between sleeve 106 and applicator 254 to accommodate contactbetween applicator 254 and surface 172 of workpiece 170.

As used herein, a first object that is fixed relative to a second objectcan mean the first object is non-movable relative to the second object.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., 4,8-12, 14, 16, and 17, automated coupler 223 is configured to enableadapter tube 226 to at least partially pass through automated coupler223. The preceding subject matter of this paragraph characterizesexample 32 of the present disclosure, wherein example 32 also includesthe subject matter according to any one of examples 28-32, above.

Enabling adapter tube 226 to at least partially pass through automatedcoupler 223 promotes ease in engaging applicator 254 with adapter tube226. Additionally, enabling adapter tube 226 to at least partially passthrough automated coupler 223 allows glutinous substance 168 fromcartridge 166 to flow at least partially through automated coupler 223before flowing into applicator 254.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., 4,8-12, 14, 16, and 17, adapter tube 226 at least partially passes throughapplicator mount 244 of automated coupler 223 when applicator mount 244is releasably interlocked with engagement assembly 224. The precedingsubject matter of this paragraph characterizes example 33 of the presentdisclosure, wherein example 33 also includes the subject matteraccording to example 32, above.

Enabling adapter tube 226 to at least partially pass through applicatormount 244 promotes ease in engaging applicator 254 with adapter tube226. Additionally, enabling adapter tube 226 to at least partially passthrough applicator mount 244 allows glutinous substance 168 fromcartridge 166 to flow at least partially through applicator mount 244before flowing into applicator 254.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.3, 6, 7, 13, and 15, engagement assembly 224 comprises first electricalconnector 242. Applicator mount 244 comprises second electricalconnector 252. First electrical connector 242 of engagement assembly 224and second electrical connector 252 of applicator mount 244 areelectrically interconnected when engagement assembly 224 and applicatormount 244 are interlocked. The preceding subject matter of thisparagraph characterizes example 34 of the present disclosure, whereinexample 34 also includes the subject matter according to any one ofexamples 17-33, above.

Electrical interconnection of first electrical connector 242 and secondelectrical connector 252 facilitates the transmission of informationfrom applicator mount 244 to engagement assembly 224. In some examples,electrical interconnection of first electrical connector 242 and secondelectrical connector 252 occurs automatically when applicator mount 244and engagement assembly 224 are interlocked. Accordingly, firstelectrical connector 242 and second electrical connector 252 promoteelectrical coupling of applicator mount 244 with engagement assembly 224without need to manually couple together electrical components ofapplicator mount 244 and engagement assembly 224 after applicator mount244 and engagement assembly 224 are releasably interlocked.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.3, 6, 7, 13, and 15, second electrical connector 252 of applicator mount244 is configured to communicate information descriptive of at least onephysical property of glutinous substance 168 to first electricalconnector 242 of engagement assembly 224. The preceding subject matterof this paragraph characterizes example 35 of the present disclosure,wherein example 35 also includes the subject matter according to example34, above.

Communicating information descriptive of physical properties ofglutinous substance 168 from second electrical connector 252 to firstelectrical connector 242 facilitates regulation of pressure applied toglutinous substance 168 in cartridge 166 and regulation of the flow ofglutinous substance 168 from applicator 254. In some examples, theinformation descriptive of physical properties of glutinous substance168 is obtained from sensor 256 coupled to applicator 254. According toone example, sensor 256 can be pressure sensor 158 and the physicalproperties may include a sensed pressure of glutinous substance 168 inapplicator 254. In one example, sensor 256 can be temperature sensor 160and the physical properties may include a sensed temperature ofglutinous substance 168 in applicator 254.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.6, 7, 13, and 17, apparatus 102 further comprises first fluid conduit267A, second fluid conduit 269A, third fluid conduit 267B, and fourthfluid conduit 269B. Engagement assembly 224 comprises fourth pressureinput 290A and a fifth pressure input 202A. First fluid conduit 267A iscommunicatively coupled with fourth pressure input 290A. Second fluidconduit 269A is communicatively coupled with fifth pressure input 292A.Applicator mount 244 comprises first pressure output 290B and a secondpressure output (292B). Third fluid conduit 267B is communicativelycoupled with first pressure output 290B. Fourth fluid conduit 269B iscommunicatively coupled with second pressure output 292B. First fluidconduit 267A becomes communicatively coupled with third fluid conduit267B of applicator mount 244 when engagement assembly 224 interlockswith applicator mount 244. Second fluid conduit 269A becomescommunicatively coupled with fourth fluid conduit 269B of applicatormount 244 when engagement assembly 224 interlocks with applicator mount244. The preceding subject matter of this paragraph characterizesexample 36 of the present disclosure, wherein example 36 also includesthe subject matter according to any one of examples 17-35, above.

First fluid conduit 267A of engagement assembly 224 becomingcommunicatively coupled with third fluid conduit 267B of applicatormount 244, and second fluid conduit 269A of engagement assembly 224becoming communicatively coupled with fourth fluid conduit 269B ofapplicator mount 244, when engagement assembly 224 interlocks withapplicator mount 244 facilitates operational coupling of applicatormount 244 with engagement assembly 224 without need to manually coupletogether pressure components of applicator mount 244 and engagementassembly 224 after applicator mount 244 and engagement assembly 224 arereleasably interlocked. More specifically, communicatively couplingfirst fluid conduit 267A with third fluid conduit 267B, andcommunicatively coupling second fluid conduit 269A with fourth fluidconduit 269B, when engagement assembly 224 interlocks with applicatormount 244, enables control of applicator 254, such as by controllingpressure of fourth pressure input 290A and fifth pressure input 292A viacontroller 157, without the need to manually couple together pressurecomponents of applicator 254 and apparatus 102 after applicator mount244 and engagement assembly 224 are releasably interlocked.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.6, 7, 13, and 17, applicator 254 comprises double-acting actuator 255,configured to selectively enable or disable flow of glutinous substance168 through applicator 254 to surface 172 of workpiece 170. When firstpressure output 290B is communicatively coupled with double-actingactuator 255 of applicator 254, second pressure output 292B iscommunicatively decoupled from double-acting actuator 255 of applicator254, and the flow of glutinous substance 168 through applicator 254 tosurface 172 of workpiece 170 is enabled. When second pressure output292B is communicatively coupled with double-acting actuator 255 ofapplicator 254, first pressure output 290B is communicatively decoupledfrom double-acting actuator 255 of applicator 254, and the flow ofglutinous substance 168 through applicator 254 to surface 172 ofworkpiece 170 is disabled. The preceding subject matter of thisparagraph characterizes example 37 of the present disclosure, whereinexample 37 also includes the subject matter according to example 36,above.

Double-acting actuator 255 of applicator 254 facilitates simple andprecise control of the flow of glutinous substance 168 throughapplicator 254 to surface 172 of workpiece 170. The communicativelydecoupling of second pressure output 292B from double-acting actuator255 is not a physical decoupling of second pressure output 292B fromdouble-acting actuator 255; rather, the communicatively decoupling ofsecond pressure output 292B from double-acting actuator 255 is aninterruption of fluid communication between second pressure output 292Band double-acting actuator 255.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2-17, automated coupler 223 is pneumatically actuated. The precedingsubject matter of this paragraph characterizes example 38 of the presentdisclosure, wherein example 38 also includes the subject matteraccording to any one of examples 1-37, above.

Pneumatic actuation of automated coupler 223 enables precise andpredictable control of the automatic coupling of applicator 254 withleading end 167 of cartridge 166 and the automatic decoupling ofapplicator 254 from leading end 167 of cartridge 166. Moreover,pneumatic actuation operation of automated coupler 223 facilitates theuse of automated pneumatic controls to control the actuation ofautomated coupler 223.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2-12 and 14-17, apparatus 102 further comprises contact regulator 201,between sleeve 106 and automated coupler 223. Contact regulator 201 isconfigured to enable a limited degree of contact between applicator 254and surface 172 of workpiece 170. The preceding subject matter of thisparagraph characterizes example 39 of the present disclosure, whereinexample 39 also includes the subject matter according to any one ofexamples 1-38, above.

As defined herein, “a limited degree of contact” means a force notexceeding a predetermined threshold, e.g., between applicator 254 andworkpiece 170. The predetermined threshold of the force is set lowenough to avoid damage to workpiece 170 and applicator 254.

In one example, contact regulator 201 comprises both force-torque sensor222 and compliant assembly 202. According to such an example,force-torque sensor 222 can be configured to detect a presence or adegree of contact between applicator 254 and surface 172 of workpiece170 and compliant assembly 202 can be configured to allow movementbetween applicator 254 and sleeve 106 such that force due to contactbetween applicator 254 and surface 172 of workpiece 170 is reduced.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2-12 and 14-17, contact regulator 201 is further configured to determineat least one of a presence or a degree of the contact between applicator254 and surface 172 of workpiece 170. The preceding subject matter ofthis paragraph characterizes example 40 of the present disclosure,wherein example 40 also includes the subject matter according to example39, above.

Determining at least one of the presence or the degree of contactbetween applicator 254 and surface 172 of workpiece 170 providesfeedback for controlling movement of apparatus 102 to avoid or reducedamage to surface 172 of workpiece 170 or to applicator 254 due toinadvertent impacts between applicator 254 and surface 172 of workpiece170. For example, when the presence or the degree of contact betweenapplicator 254 and surface 272 of workpiece 170 is determined, apparatus102 can be controlled to move applicator 254 away from surface 172 ofworkpiece 170 to limit the contact between applicator 254 and surface172 of workpiece 170 and avoid damage to surface 172 of workpiece 170 orto applicator 254 or prevent further damage to surface 172 of workpiece170 or to applicator 254.

In one example, at least one of a presence or a degree of the contactbetween applicator 254 and surface 172 of workpiece 170 is determinedfrom an output of one or more proximity sensors 210 of compliantassembly 202. According to another example, at least one of a presenceor a degree of the contact between applicator 254 and surface 172 ofworkpiece 170 is determined from an output of force-torque sensor 222.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2-12 and 14-17, contact regulator 201 enables the limited degree ofcontact between applicator 254 and surface 172 of workpiece 170 bycommunicating a command, descriptive of at least one of the presence orthe degree of contact between applicator 254 and surface 172 ofworkpiece 170, to controller 157, which is configured, based at least inpart on the command, to direct robot 152 to move apparatus 102 andapplicator 254 relative to surface 172 of workpiece 170. The precedingsubject matter of this paragraph characterizes example 41 of the presentdisclosure, wherein example 41 also includes the subject matteraccording to example 40, above.

Controller 157, being configured to direct robot 152 to move apparatus102 and applicator 254 relative to surface 172 of workpiece 170 based atleast in part on a command, descriptive of at least one of the presenceor the degree of contact between applicator 254 and surface 172 ofworkpiece 170, facilitates automatic adjustment of the position ofapparatus 102 and applicator 254 when the presence or the degree ofcontact between applicator 254 and surface 172 of workpiece 170 isdetermined. Robot 152 facilitates programmable, precise, and responsivecontrol (e.g., movement) of apparatus 102 and applicator 254.

In some examples, robot 152 comprises a robotic or mechanical arm.According to yet certain examples, controller 157 comprises a computingdevice with one or more of software stored in memory or programmablelogic hardware, each configured to execute instructions for operation ofrobot 152 and apparatus 102.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.15 and 16, contact regulator 201 comprises force-torque sensor 222,configured to determine at least one of the presence or the degree ofthe contact between applicator 254 and surface 172 of workpiece 170based on at least one of a torque or a force detected by force-torquesensor 222 when applicator 245 contacts surface 172 of workpiece 170.The preceding subject matter of this paragraph characterizes example 42of the present disclosure, wherein example 42 also includes the subjectmatter according to example 41, above.

Force-torque sensor 222 enables responsive and precise detection of thepresence or the degree of contact between applicator 254 and surface 172of workpiece 170. Additionally, in some examples, force-torque sensor222 is programmable to compensate for the force exerted on applicator254 by glutinous substance 168 as glutinous substance 168 is beingdelivered to applicator 254.

According to some examples, force-torque sensor 222 can be any ofvarious sensors, configured to sense the torque and/or the force appliedto force-torque sensor 222 by an object. In certain examples,force-torque sensor 222 comprises at least one transducer configured tosense loading applied to applicator 254 when applicator 254 isautomatically reversibly sealingly coupled with leading end 167 ofcartridge 166.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.15 and 16, force-torque sensor 222 is capable of detecting the torqueabout at least one axis and is capable of detecting the force along atleast one axis. The preceding subject matter of this paragraphcharacterizes example 43 of the present disclosure, wherein example 43also includes the subject matter according to example 42, above.

Detecting the torque about at least one axis enables force-torque sensor222 to determine whether contact with surface 172 of workpiece 170applies a rotational force to applicator 254 about the at least one axisand/or the degree of rotational force applied to applicator 154 aboutthe at least one axis. For example, knowing the presence or the degreeof torque applied to applicator 254 by surface 272 of workpiece 170enables apparatus 102 and applicator 254 to be moved away from surface172 of workpiece 170 in a direction opposing the applied torque, whichmay or may not be a direction perpendicular to surface 172 contactingapplicator 254, to limit the torque applied to applicator 254 by surface172 of workpiece 170.

Detecting the force along at least one axis enables force-torque sensor222 to determine whether contact with surface 172 of workpiece 170applies a linear force to applicator 254 along the at least one axisand/or the degree of linear force applied to applicator 154 along the atleast one axis. For example, knowing the presence or the degree of forceapplied to applicator 254 by surface 272 of workpiece 170 enablesapparatus 102 and applicator 254 to be moved away from surface 172 ofworkpiece 170 in a direction opposing the applied force to limit theforce applied to applicator 254 by surface 172 of workpiece 170.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.15 and 16, force-torque sensor 222 is capable of detecting the torqueabout three axes and is capable of detecting the force along three axes.The preceding subject matter of this paragraph characterizes example 44of the present disclosure, wherein example 44 also includes the subjectmatter according to example 42, above.

Detecting the torque about at least three axes enables force-torquesensor 222 to more precisely determine whether contact with surface 172of workpiece 170 applies a rotational force to applicator 254 about theat least three axes and/or the degree of rotational force applied toapplicator 154 about the at least three axes. For example, knowing thepresence or the degree of torque applied to applicator 254 by surface272 of workpiece 170, about at least three axes, enables apparatus 102and applicator 254 to be moved away from surface 172 of workpiece 170 ina direction more precisely opposing the applied torque, which may or maynot be a direction perpendicular to surface 172 contacting applicator254, to limit the torque applied to applicator 254 by surface 172 ofworkpiece 170.

Detecting the force along at least three axes enables force-torquesensor 222 to determine whether contact with surface 172 of workpiece170 applies a linear force to applicator 254 along the at least threeaxes and/or the degree of linear force applied to applicator 154 alongthe at least three axes. For example, knowing the presence or the degreeof force applied to applicator 254 by surface 272 of workpiece 170,about the at least three axes, enables apparatus 102 and applicator 254to be moved away from surface 172 of workpiece 170 in a direction moreprecisely opposing the applied force to limit the force applied toapplicator 254 by surface 172 of workpiece 170.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2-12, 14, and 17, contact regulator 201 comprises compliant assembly202. The preceding subject matter of this paragraph characterizesexample 45 of the present disclosure, wherein example 45 also includesthe subject matter according to any one of examples 41-44, above.

Compliant assembly 202 facilitates the enablement of a limited degree ofcontact between applicator 254 and surface 172 of workpiece 170 byallowing biased movement of applicator 254 relative to sleeve 106 whenapplicator 254 contacts surface 172 of workpiece 170. Biased movementbetween applicator 254 and sleeve 106 enables applicator 254 to, atleast partially, give way upon contacting surface 172 of workpiece 170such that impact forces imparted to surface 172 by applicator 254 arereduced.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2-12, 14, and 17, compliant assembly 202 comprises first portion 204,coupled with sleeve 106, second portion 206, non-movably coupled toautomated coupler 223, and at least one biasing mechanism 217, movablycoupling second portion 206 with first portion 204 and biasing secondportion 206 away from first portion 204 along central axis 121 of sleeve106. The preceding subject matter of this paragraph characterizesexample 46 of the present disclosure, wherein example 46 also includesthe subject matter according to example 45, above.

At least one biasing mechanism 217 of compliant assembly 202 facilitatesbiased movement between applicator 254 and sleeve 106. Non-movablycoupling second portion 206 of compliant assembly 202 to automatedcoupler 223 allows apparatus 102 to both automatically reversiblysealingly couple applicator 254 with leading end 167 of cartridge 166and enable a limited degree of contact between applicator 254 andsurface 172 of workpiece 170.

In some examples, second portion 206 is non-movably coupled to automatedcoupler 223 via one or more fasteners.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2-12, 14, and 17, each of at least one biasing mechanism 217 comprisesspring 220 and piston 218. Piston 218 extends through spring 220 and isfixed relative to one of first portion 204 or second portion 206 ofcompliant assembly 202. Piston 218 is movable relative to another one offirst portion 204 or second portion 206 of compliant assembly 202. Eachof at least one biasing mechanism 217 also comprises first cylinder 272,movably retaining piston 218. First cylinder 272 is located in one offirst portion 204 or second portion 206 of compliant assembly 202. Thepreceding subject matter of this paragraph characterizes example 47 ofthe present disclosure, wherein example 47 also includes the subjectmatter according to example 46, above.

Spring 220, piston 218, and first cylinder 272 of at least one biasingmechanism 217 promote simple, predictable, and reliable biasing ofsecond portion 206 away from first portion 204. Moreover, the limiteddegree of contact between applicator 254 and surface 172 of workpiece170 can be at least partially controlled by the stiffness of spring 220.

In one example, spring 220 is a compression spring, configured to imparta biasing force to second portion 206 of compliant assembly 202 that isinversely proportional to a distance between a fixed location on sleeve106 and surface 172 of workpiece 170 and is less than a magnitude of aforce sufficient to damage at least one of applicator 254 or workpiece170 during a contact therebetween.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.8-10A, 11A, 12, 14, and 17, each of at least one biasing mechanism 217further comprises eighth pressure input 274, through which regulatedpressure is selectively introduced within first cylinder 272. Thepreceding subject matter of this paragraph characterizes example 48 ofthe present disclosure, wherein example 48 also includes the subjectmatter according to example 47, above.

Selective introduction of regulated pressure, through eighth pressureinput 274, within first cylinder 272 of biasing mechanism 217, movespiston 218 within first cylinder 272. In other words, introducingregulated pressure within first cylinder 272 of biasing mechanism 217,by selective operation of eighth pressure input 274, pressurizes aportion of first cylinder 272 to cause piston 218 to move along firstcylinder 272.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.8-10A, 11A, 12, 14, and 17, the regulated pressure, selectivelyintroduced within first cylinder 272 of each of at least one biasingmechanism 217 via eighth pressure input 274, generates a force equal andopposite to that exerted by glutinous substance 168 on applicator 254 asglutinous substance 168 is delivered from cartridge 166 to applicator254 and creates a pressure in applicator 254. The preceding subjectmatter of this paragraph characterizes example 49 of the presentdisclosure, wherein example 49 also includes the subject matteraccording to example 48, above.

In some examples, as glutinous substance 168 is delivered from cartridge166 to applicator 254, glutinous substance 168 may exert pressure onapplicator 254, which urges second portion 206 of compliant assembly 202away from first portion 204 of compliant assembly 202 to effectivelyimmobilize first portion 204 relative to second portion 206. Generatinga force in first cylinder 272 equal and opposite to that exerted byglutinous substance 168 on applicator 254, as glutinous substance 168 isdelivered from cartridge 166 to applicator 254, compensates for thepressure exerted by glutinous substance 168 on applicator 254 such thatsecond portion 206 of compliant assembly 202 is allowed to move relativeto first portion 204 of compliant assembly.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2, 3, 5, and 17, apparatus 102 further comprises pressure sensor 158,configured to generate an output based on the pressure of glutinoussubstance 168 in applicator 254. The regulated pressure within firstcylinder 272 of each of at least one biasing mechanism 217 is adjustedbased on, at least in part, the output of pressure sensor 158. Thepreceding subject matter of this paragraph characterizes example 50 ofthe present disclosure, wherein example 50 also includes the subjectmatter according to example 49, above.

Adjusting the regulated pressure within first cylinder 272 of each of atleast one biasing mechanism 217 based on, at least in part, the outputof pressure sensor 158 allows the force generated in first cylinder 272to be adjusted to compensate for changes in the pressure of glutinoussubstance 168 in applicator 254.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2-12, 14, and 17, compliant assembly 202 further comprises at least oneguide 208, configured to movably couple first portion 204 and secondportion 206 of compliant assembly 202 and to align second portion 206and first portion 204 along central axis 121 of sleeve 106. Thepreceding subject matter of this paragraph characterizes example 51 ofthe present disclosure, wherein example 51 also includes the subjectmatter according to any one of examples 46-50, above.

At least one guide 208 of compliant assembly 202 allows movement offirst portion 204 and second portion 206, while promoting alignment offirst portion 204 and second portion 206 along central axis 121 ofsleeve 106.

In some examples, at least one guide 208 comprises a rod, fixed relativeto one of first portion 204 and second portion 206 and movably receivedwithin a complementary channel formed in another of first portion 204and second portion 206.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.3-12 and 14-17, apparatus 102 further comprises sleeve interface 200,translationally fixed relative to sleeve 106. The preceding subjectmatter of this paragraph characterizes example 52 of the presentdisclosure, wherein example 52 also includes the subject matteraccording to any one of examples 46-51, above.

Sleeve interface 200, being translationally fixed relative to sleeve106, facilitates coupling of compliant assembly 202 and automatedcoupler 223 with sleeve 106.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.8-12, 14, and 17, compliant assembly 202 is selectively movable relativeto sleeve interface 200 along central axis 121 of sleeve 106. Firstportion 204 of compliant assembly 202 comprises second cylinder 213,movably retaining sleeve interface 200 and comprising first chamber 215and second chamber 219. Sleeve interface 200 separates first chamber 215from second chamber 219. The preceding subject matter of this paragraphcharacterizes example 53 of the present disclosure, wherein example 53also includes the subject matter according to example 52, above.

Compliant assembly 202, being selectively movable relative to sleeveinterface 200 along central axis 121 of sleeve 106 and fixed relative tosleeve 106, enables compliant assembly 292 to be selectively movablerelative to sleeve 106 along central axis 121 of sleeve 106. Secondcylinder 213 of compliant assembly 202 facilitates controllabletranslational movement of compliant assembly 202 relative to sleeveinterface 200. Sleeve interface 200 separating first chamber 215 ofsecond cylinder 213 from second chamber 117 of second cylinder enables adouble-acting piston configuration.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2-12, 14, and 17, compliant assembly 202 further comprises sixthpressure input 214, through which pressure is selectively introducedinto first chamber 215 of second cylinder 213 to move first portion 204of compliant assembly 202 relative to sleeve interface 200, enlargingfirst chamber 215 and contracting second chamber 219, until secondportion 206 of compliant assembly 202 is in contact with sleeveinterface 200. The preceding subject matter of this paragraphcharacterizes example 54 of the present disclosure, wherein example 54also includes the subject matter according to example 53, above.

Contact between second portion 206 of compliant assembly 202 and sleeveinterface 200 prevents movement of second portion 206 of compliantassembly 202, and thus applicator 254, toward sleeve 106 along centralaxis 121 of sleeve 106. In one example, preventing movement of secondportion 206 of compliant assembly 202 toward sleeve 106 facilitates theautomated coupling of applicator 254 with leading end 167 of cartridge166 and decoupling of applicator 245 from leading end 167 of cartridge166.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2-12, 14, and 17, compliant assembly 202 further comprises seventhpressure input 216, through which pressure is selectively introducedinto second chamber 219 of second cylinder 213 to move first portion 204of compliant assembly 202 relative to sleeve interface 200, enlargingsecond chamber 219 and contracting first chamber 215 until secondportion 206 of compliant assembly 202 is a predetermined distance awayfrom sleeve interface 200. The preceding subject matter of thisparagraph characterizes example 55 of the present disclosure, whereinexample 55 also includes the subject matter according to any one ofexamples 53 or 54, above.

Moving first portion 204 of compliant assembly 202 a predetermineddistance away from sleeve interface 200 enables movement of secondportion 206 of compliant assembly 202 relative to first portion 204 ofcompliant assembly 202. The predetermined distance between secondportion 206 of compliant assembly 202 and sleeve interface 200 isselected to facilitate a maximum desired range of motion or give betweenfirst portion 204 and second portion 206 of compliant assembly 202before second portion 206 contacts sleeve interface 200 to preventfurther motion of second portion 206 relative to first portion 204.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2, 3, 5-12, 14, and 17, compliant assembly 202 further comprises one ormore proximity sensors 210, mounted to one of first portion 204 orsecond portion 206 of compliant assembly 202 and communicatively coupledwith controller 157. One or more proximity sensors 210 are configured todetermine at least one of the presence or the degree of the contactbetween applicator 254 and surface 172 of workpiece 170 and tocommunicate a command, descriptive of at least one of the presence orthe degree of contact between applicator 254 and surface 172 ofworkpiece 170 to controller 157. The preceding subject matter of thisparagraph characterizes example 56 of the present disclosure, whereinexample 56 also includes the subject matter according to any one ofexamples 46-55, above.

Proximity sensor 210 promotes the detection of movement between firstportion 204 of compliant assembly 202 and second portion 206 ofcompliant assembly 202.

Additionally, communicating commands, descriptive of the presence,degree, or both presence and degree of contact between applicator 254and surface 172 of workpiece 170, to controller 157 enables controller157 to direct robot 152 to avoid or reduce damage to surface ofworkpiece. For example, controller 157 can direct robot 152 to at leastone of stop movement of apparatus 102 and applicator 254 relative tosurface 172 of workpiece 170 or move apparatus 102 and applicator 254away from surface 172 of workpiece 170 when the presence of contact isdetected by proximity sensor 210 and/or the degree of contact detectedby proximity sensor 210 meets a predetermined threshold.

In some examples, compliant assembly 202 includes a sensing device,fixedly coupled to one of first portion 204 and second portion 206 ofcompliant assembly 202, and a sensed target, such as a magnet, fixedlycoupled to another of first portion 204 and second portion 206 ofcompliant assembly 202. According to one example, the sensed target isone of first portion 204 and second portion 206 itself. Generally, thesensing device of compliant assembly 202 is configured to sense aposition of the sensed target relative to the sensing device using anyof various position sensing techniques, such as emitting anelectromagnetic signal from the sensing device and detecting changes ina signal returned from the sensed target.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2, 3, 5-12, 14, and 17, one or more proximity sensors 210 are configuredto determine at least one of the presence or the degree of the contactbetween applicator 254 and surface 172 of workpiece 170 based on adistance detected between first portion 204 and second portion 206 ofcompliant assembly 202. The preceding subject matter of this paragraphcharacterizes example 57 of the present disclosure, wherein example 57also includes the subject matter according to example 56, above.

Detecting a distance between first portion 204 and second portion 206 ofcompliant assembly 202 that is less than a contact-free distance betweenfirst portion 204 and second portion 206 of compliant assembly 202,associated with a pre-set maximum distance between first portion 204 andsecond portion 206 of compliant assembly 202, ensures applicator 254 hasmade contact with surface 172 of workpiece 170. Correspondingly,detecting a distance between first portion 204 and second portion 206 ofcompliant assembly 202 that equals a threshold distance, which issmaller than the contact-free distance, ensures applicator 254 has notonly made contact with surface 172 of workpiece 170, but may alsoindicate relative movement between applicator 254 and first portion 204of compliant assembly 202 is prevented or will soon be prevented.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2, 3, 5-12, 14, and 17, each of one or more proximity sensors 210comprises a hall effect sensor. The preceding subject matter of thisparagraph characterizes example 58 of the present disclosure, whereinexample 58 also includes the subject matter according to any one ofexamples 56 or 57, above.

Hall effect sensors facilitate precise and calibratable detection of thedistance between first portion 204 and second portion 206 of compliantassembly 202.

Generally, a hall effect sensor is a transducer that varies its outputvoltage or output command in response to a magnetic field. In someexamples, other sensors, similar or analogous to a hall effect sensorcan be used to detect the distance between first portion 204 and secondportion 206 of compliant assembly 202.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2, 3, 5-12, 14, and 17, apparatus 102 further comprises one or moremagnets 211, each magnetically coupled with a corresponding one ofproximity sensors 210. One or more proximity sensors 210 are fixedrelative to a first one of first portion 204 or second portion 206 ofcompliant assembly 202. One or more magnets 211 are fixed relative to asecond one of first portion 204 or second portion 206 of compliantassembly 202. The preceding subject matter of this paragraphcharacterizes example 59 of the present disclosure, wherein example 59also includes the subject matter according to example 58, above.

At least one magnet 211 promotes the sensitivity and accuracy of thehall effect sensor, which is configured to detect the position of atleast one magnet 211 relative to the hall effect sensor.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2, 3, 5-12, 14, and 17, compliant assembly 202 further comprises twoproximity sensors 210, mounted to one of first portion 204 or secondportion 206 of compliant assembly 202 and communicatively coupled withcontroller 157. A first one of two proximity sensors 210 is configuredto determine the presence of the contact between applicator 254 andsurface 172 of workpiece 170 and to communicate a command, descriptiveof the presence of contact between applicator 254 and surface 172 ofworkpiece 170, to controller 157. A second one of two proximity sensors210 is configured to determine the degree of the contact betweenapplicator 254 and surface 172 of workpiece 170 and to communicate acommand, descriptive of the degree of contact between applicator 254 andsurface 172 of workpiece 170, to controller 157. The preceding subjectmatter of this paragraph characterizes example 60 of the presentdisclosure, wherein example 60 also includes the subject matteraccording to example 46, above.

Two proximity sensors 210 enables one proximity sensor 210 to becalibrated to detect the presence of contact between applicator 254 andsurface 172 of workpiece 170 and another proximity sensor 210 to becalibrated to detect the degree of contact between applicator 254 andsurface 172 of workpiece 170. Such a configuration promotes simplicityand reliability in determining the presence and the degree of contactbetween applicator 254 and surface 172 of workpiece 170.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2, 3, 5-12, 14, and 17, the first one of two proximity sensors 210 isconfigured to determine the presence of the contact between applicator254 and surface 172 of workpiece 170 based on a first distance detectedby the first one of two proximity sensors 210 between first portion 204and second portion 206 of compliant assembly 202. The second one of twoproximity sensors 210 is configured to determine the degree of thecontact between applicator 254 and surface 172 of workpiece 170 based ona second distance detected by the second one of two proximity sensors210 between first portion 204 and second portion 206 of compliantassembly 202. The preceding subject matter of this paragraphcharacterizes example 61 of the present disclosure, wherein example 61also includes the subject matter according to example 60, above.

Determining the presence and degree of contact between applicator 254and surface 172 of workpiece 170 based on distances between firstportion 204 and second portion 206 of compliant assembly 202 allows forthe use of proximity sensors, which, compared to other types of sensors,promote simple, accurate, and reliable measurement detection.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2-17, system 100 for delivering glutinous substance (168) from cartridge(166) to surface (172) of workpiece (170) is disclosed. System 100comprises applicator 254, configured to be reversibly sealingly coupledwith leading end 167 of cartridge 166. System 100 further comprisesrobot 152, comprising tool interface 156. Additionally, system 100comprises apparatus 102, comprising robot interface 136, configured tobe coupled to tool interface 156 of robot 152. Apparatus 102 alsocomprises sleeve 106, comprising central axis 121, inlet 124, and outlet128 opposite inlet 124. Sleeve 106 is configured to receive cartridge166 through inlet 124. Apparatus 102 also comprises pressure-capassembly 104, coupled to sleeve 106 and comprising pressure cap 110,proximate inlet 124 of sleeve 106. With cartridge 166 received withinsleeve 106, pressure cap 110 is movable between, inclusively, a closedposition, in which pressure cap 110 is in sealed engagement withtrailing end 169 of cartridge 166, and an open position, in whichpressure cap 110 provides clearance sufficient for insertion ofcartridge 166 inside sleeve 106 through inlet 124 of sleeve 106.Pressure cap 110 comprises first pressure input 118, through whichpressure is selectively applied to glutinous substance 168 in cartridge166 when cartridge 166 is received within sleeve 106, pressure cap 110is in the closed position, and leading end 167 of cartridge 166 is insealed engagement with applicator 254. Pressure-cap assembly 104 alsocomprises actuator 114, coupled to pressure cap 110 and to sleeve 106.Actuator 114 is selectively operable to move pressure cap 110 relativeto sleeve 106 between, inclusively, the closed position and the openposition. Apparatus 102 further comprises automated coupler 223,configured to automatically reversibly sealingly couple applicator 254with leading end 167 of cartridge 166 when cartridge 166 is insidesleeve 106 and pressure cap 110 is in closed position. Additionally,system 100 comprises controller 157, operatively coupled with robot 152and apparatus 102. The preceding subject matter of this paragraphcharacterizes example 62 of the present disclosure.

System 100 is configured to facilitate a reduction in the labor, time,and inaccuracies associated with the application of glutinous substancesonto surfaces of workpieces. Cartridge 166 of apparatus 102 providesmodular containment of glutinous substance 168. Sleeve 106 of apparatus102 enables a secure coupling of cartridge 166 to apparatus 102.Pressure-cap assembly 104 allows both access to sleeve 106 for theinsertion of cartridge 166 into sleeve 106 and the application ofpressure to cartridge 166 for urging glutinous substance 168 out ofsleeve 106. Actuator 114 facilitates automated actuation of pressure-capassembly 104. With cartridge 166 received within sleeve 106 and pressurecap 110 in a closed position, cartridge 166 is sealed with valve 154 toenable sealed flow of glutinous substance 168 from cartridge 166 tovalve 154 via the application of pressure to glutinous substance 168 incartridge 166. Automated coupler 223 facilitates quick automatedcoupling of applicator 254 with apparatus 102 and quick automatedreleasing of applicator 254 from apparatus 102. Robot 152 facilitatesprogrammable and precise automated movement of apparatus 102 andapplicator 254 relative to surface 172 of workpiece 170. Robot interface136 promotes quick coupling of apparatus 102 with robot 152 and quickreleasing of apparatus 102 from robot 152. Additionally, robot interface136 facilitates quick coupling of communication lines between apparatus102 and robot 152. For example, robot interface 136 may enable automatedcoupling of apparatus 102 with robot 152 and automated releasing ofapparatus 102 from robot 152. Controller 157 facilitates automatedprogrammable operation of system 100.

In some examples, controller 157 controls the pressure of glutinoussubstance 168 in cartridge 166. According to certain examples,controller 157 directs actuator 114 to move pressure cap 110 relative tosleeve 106 between, inclusively, the closed position and the openposition. In yet some examples, controller 157 directs automated coupler223 to automatically reversibly sealingly couple applicator 254 withleading end 167 of cartridge 166.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIG.5, system 100 further comprises pressure source 162. Controller 157 isconfigured to cause pressure source 162 to selectively provide pressureto tool interface 156 of robot 152. Tool interface 156 of robot 152 isconfigured to pneumatically communicate the pressure, received frompressure source 162, to robot interface 136 of apparatus 102. Robotinterface 136 of apparatus 102 is configured to pneumaticallycommunicate the pressure, received from tool interface 156 of robot 152,to first pressure input 118 of pressure cap 110 and to actuator 114. Thepreceding subject matter of this paragraph characterizes example 63 ofthe present disclosure, wherein example 63 also includes the subjectmatter according to example 62, above.

Robot interface 136 and tool interface 156 enable reliable pneumaticcommunication of pressure from pressure source 162 to apparatus 102 forpneumatic operation of apparatus 102. Furthermore, robot interface 136and tool interface 156 promote quick coupling of apparatus 102 withrobot 152 and quick releasing of apparatus 102 from robot 152.Additionally, robot interface 136 and tool interface 156 facilitatequick coupling of communication lines between apparatus 102 and robot152. For example, robot interface 136 and tool interface 156 may enableautomated coupling of apparatus 102 with robot 152 and automatedreleasing of apparatus 102 from robot 152.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2, 3, 5, and 17, apparatus 102 further comprises at least one ofpressure sensor 158, configured to sense pressure of glutinous substance168 in applicator 254, or temperature sensor 160, configured to sensetemperature of glutinous substance 168 in applicator 254. Apparatus 102also comprises at least one of pressure-signal conditioner 144,electrically coupled to pressure sensor 158, or temperature-signalconditioner 142, electrically coupled to temperature sensor 160.Controller 157 is operatively coupled with pressure source 162 and isfurther configured to regulate the pressure, communicated from pressuresource 162 to first pressure input 118 of pressure cap 110 via toolinterface 156 of robot 152 and robot interface 136 of apparatus 102,responsive to, at least in part, at least one of pressure data, receivedfrom pressure-signal conditioner 144, or temperature data, received fromtemperature-signal conditioner 142. The preceding subject matter of thisparagraph characterizes example 64 of the present disclosure, whereinexample 64 also includes the subject matter according to example 63,above.

Pressure sensor 158 enables detection of the pressure of glutinoussubstance 168 in applicator 254. The pressure of glutinous substance 168in valve 154 detected by pressure sensor 158 can be used by controller157 to control the rate at which glutinous substance 168 flows fromcartridge 166 to valve 154. Pressure-signal conditioner 144 enablescommunication of pressure-related information from pressure sensor 158to controller 157 in a format useable by controller 157. Accordingly,pressure-signal conditioner 144 provides data format conversionfunctionality on-board apparatus 102, rather than at controller 157.

Temperature sensor 160 enables detection of the temperature of glutinoussubstance 168 in applicator 254. The temperature of glutinous substance168 in applicator 254 detected by temperature sensor 160 can be used bycontroller 157 to control the rate at which glutinous substance 168flows from cartridge 166 to applicator 254. Temperature-signalconditioner 142 enables communication of temperature-related informationfrom temperature sensor 160 to controller 157 in a format useable bycontroller 157. Accordingly, temperature-signal conditioner 142 providesdata format conversion functionality on-board apparatus 102, rather thanat controller 157.

Using controller 157 to regulate the pressure communicated from pressuresource 162 responsive to, at least in part, at least one of pressuredata, received from pressure-signal conditioner 144, or temperaturedata, received from temperature-signal conditioner 142, facilitates aprecise and predictable flow of glutinous substance 168 from applicator254 to surface 172 of workpiece 170.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2-5, and 15, the pressure, communicated to first pressure input 118, isthat inside sleeve 106. A delivery rate of glutinous substance 168 fromcartridge 166 to applicator 254 is proportional to the pressure insidesleeve 106. The preceding subject matter of this paragraph characterizesexample 65 of the present disclosure, wherein example 65 also includesthe subject matter according to example 64, above.

Regulating the pressure communicated from pressure source 162 toregulate the delivery rate of glutinous substance 168 from cartridge 166to applicator 254 facilitates a precise and predictable flow ofglutinous substance 168 from applicator 254 to surface 172 of workpiece170.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2-5, apparatus 102 further comprises input/output connector 140,communicatively coupling the at least one of pressure-signal conditioner144 or temperature-signal conditioner 142 with controller 157. Thepreceding subject matter of this paragraph characterizes example 66 ofthe present disclosure, wherein example 66 also includes the subjectmatter according to any one of examples 64 or 65, above.

Input/output connector 140 facilitates a convenient and reliableelectrical-communication connection between controller 157 andtemperature-signal conditioner 142, and controller 157 andpressure-signal conditioner 144.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIG.5, system 100 further comprises pressure amplifier 165, pneumaticallycoupled with pressure source 162. The pressure, generated by pressuresource 162, is a first pressure. Pressure amplifier 165 is configured toincrease the first pressure to a second pressure. Controller 157 isfurther configured to cause pressure source 162 to selectively providethe first pressure to tool interface 156 of robot 152 and to causepressure amplifier 165 to selectively provide the second pressure totool interface 156 of robot 152. Tool interface 156 of robot 152 isconfigured to pneumatically communicate the first pressure, receivedfrom pressure source 162, to robot interface 136 of apparatus 102 and topneumatically communicate the second pressure, received from pressureamplifier 165, to robot interface 136 of apparatus 102. Robot interface136 of apparatus 102 is configured to pneumatically communicate thefirst pressure, received from tool interface 156 of robot 152, toactuator 114 and to pneumatically communicate the second pressure,received from tool interface 156 of robot 152, to first pressure input118 of pressure cap 110. The preceding subject matter of this paragraphcharacterizes example 67 of the present disclosure, wherein example 67also includes the subject matter according to any one of examples 63-66,above.

Air amplifier 165 enables pneumatic communication of multiple pressuresfrom pressure source 162 to apparatus 102 for pneumatically operatingmultiple components of apparatus 102. Robot interface 136 and toolinterface 156 promote quick coupling of apparatus 102 with robot 152 andquick releasing of apparatus 102 from robot 152. Additionally, robotinterface 136 and tool interface 156 facilitate quick coupling ofpressure tubes between apparatus 102 and robot 152.

Air amplifier 165 can be configured to provide pressures up to, forexample, 300 psi. In some examples, air amplifier 165 includes amanifold with independently-controllable valves each configured toregulate air flow to different locations of tool interface 156.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2-17, automated coupler 223 comprises applicator mount 244, configuredto fixedly receive applicator 254, and engagement assembly 224, coupledto sleeve 106. Engagement assembly 224 is configured to releasablyinterlock with applicator mount 244 and comprises first electricalconnector 242. Applicator mount 244 comprises second electricalconnector 252. First electrical connector 242 of engagement assembly 224and second electrical connector 252 of applicator mount 244 arecommunicatively coupled when engagement assembly 224 and applicatormount 244 are interlocked. Apparatus 102 further comprises sensor 256,coupled to applicator 254 and configured to sense at least one physicalproperty of glutinous substance 168 in applicator 254. Second electricalconnector 252 of applicator mount 244 is configured to communicateinformation, descriptive of the at least one physical property ofglutinous substance 168, to first electrical connector 242 of engagementassembly 224. First electrical connector 242 of engagement assembly 224is configured to communicate the information, descriptive of the atleast one physical property of glutinous substance 168, to controller157. The preceding subject matter of this paragraph characterizesexample 68 of the present disclosure, wherein example 68 also includesthe subject matter according to any one of examples 62-67, above.

Releasable interlock between engagement assembly 224 and applicatormount 244 promotes a secure, yet releasable, coupling of applicatormount 244 to engagement assembly 224. Furthermore, in some examples,engagement assembly 224 communicatively interfaces with controller 157via apparatus 102, and communicatively interfaces with applicator mount244, such that releasably interlocking applicator mount 244 withengagement assembly 224 automatically communicatively interfacesapplicator mount 244 with controller 157. In this manner, in certainexamples, automated coupling of applicator 254 with apparatus 102 byautomated coupler 223 also facilitates automated interfacing with andcontrol of applicator 254 by controller 157. Accordingly, in certainexamples, automated coupler 223 promotes physical and operationalcoupling of applicator 254 with apparatus 102 by effectively eliminatingneed to manually couple components of system 100 with applicator mount244 and applicator 254 after applicator mount 144 is releasablyinterlocked with engagement assembly 224.

Sensor 256 enables detection of one or more characteristics of glutinoussubstance 168 in applicator 254. The characteristics of glutinoussubstance 168 in applicator 254 detected by sensor 256 can be used tocontrol the rate at which glutinous substance 168 flows from cartridge166 to applicator 254. Additionally, the characteristics of glutinoussubstance 168 in applicator 254 detected by sensor 256 can be used tocontrol applicator 254 to regulate the rate at which glutinous substance168 flows from applicator 254 to surface 172 of workpiece 170. Further,in some examples, sensor 256 being configured to be coupled toapplicator 254 allows pressure sensor 158 to remain part of applicator254 as applicator 254 is coupled to and decoupled from apparatus 102 viaselective operation of automated coupler 223.

Electrical interconnection of first electrical connector 242 and secondelectrical connector 252 facilitates the transmission of informationfrom applicator mount 244 to engagement assembly 224. In some examples,electrical interconnection of first electrical connector 242 and secondelectrical connector 252 occurs automatically when applicator mount 244and engagement assembly 224 are interlocked. Accordingly, firstelectrical connector 242 and second electrical connector 252 promoteelectrical coupling of applicator mount 244 with engagement assembly 224without need to manually couple together electrical components ofapplicator mount 244 and engagement assembly 224 after applicator mount244 and engagement assembly 224 are releasably interlocked.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2, 4-10A, 11A-14, 16, and 17, apparatus 102 further comprises firstfluid conduit 267A, second fluid conduit 269A, third fluid conduit 267B,and fourth fluid conduit 269B. Automated coupler 223 comprisesapplicator mount 244, configured to fixedly receive applicator 254, andengagement assembly 224, coupled to sleeve 106. Engagement assembly 224is configured to releasably interlock with applicator mount 244 andcomprises fourth pressure input 290A and fifth pressure input 202A.First fluid conduit 267A is communicatively coupled with fourth pressureinput 290A. Second fluid conduit 269A is communicatively coupled withfifth pressure input 292A. Applicator mount 244 comprises first pressureoutput 290B and second pressure output 292B. Third fluid conduit 267B iscommunicatively coupled with first pressure output 290B. Fourth fluidconduit 269B is communicatively coupled with second pressure output292B. First fluid conduit 267A becomes communicatively coupled withthird fluid conduit 267B of applicator mount 244 when engagementassembly 224 interlocks with applicator mount 244. Second fluid conduit269A becomes communicatively coupled with fourth fluid conduit 269B ofapplicator mount 244 when engagement assembly 224 interlocks withapplicator mount 244. Applicator 254 comprises double-acting actuator255, and controller 157 is configured to cause double-acting actuator255 to selectively enable or disable flow of glutinous substance 168through applicator 254 to surface 172 of workpiece 170. When firstpressure output 290B is communicatively coupled with double-actingactuator 255 of applicator 254, flow of glutinous substance 168 throughapplicator 254 to surface 172 of workpiece 170 is enabled and secondpressure output 292B is communicatively decoupled from double-actingactuator 255 of applicator 254. When second pressure output 292B iscommunicatively coupled with double-acting actuator 255 of applicator254, flow of glutinous substance 168 through applicator 254 to surface172 of workpiece 170 is disabled and first pressure output 290B iscommunicatively decoupled from double-acting actuator 255 of applicator254. The preceding subject matter of this paragraph characterizesexample 69 of the present disclosure, wherein example 69 also includesthe subject matter according to example 62, above.

First fluid conduit 267A of engagement assembly 224 becomingcommunicatively coupled with third fluid conduit 267B of applicatormount 244, and second fluid conduit 269A of engagement assembly 224becoming communicatively coupled with fourth fluid conduit 269B ofapplicator mount 244, when engagement assembly 224 interlocks withapplicator mount 244 facilitates operational coupling of applicatormount 244 with engagement assembly 224 without need to manually coupletogether pressure components of applicator mount 244 and engagementassembly 224 after applicator mount 244 and engagement assembly 224 arereleasably interlocked. More specifically, communicatively couplingfirst fluid conduit 267A with third fluid conduit 267B, andcommunicatively coupling second fluid conduit 269A with fourth fluidconduit 269B, when engagement assembly 224 interlocks with applicatormount 244, enables control of applicator 254, such as by controllingpressure of fourth pressure input 290A and fifth pressure input 292A viacontroller 157, without the need to manually couple together pressurecomponents of applicator 254 and apparatus 102 after applicator mount244 and engagement assembly 224 are releasably interlocked.

Double-acting actuator 255 of applicator 254 facilitates simple andprecise control of the flow of glutinous substance 168 throughapplicator 254 to surface 172 of workpiece 170.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2-12 and 14-17, apparatus 102 further comprises contact regulator 201,coupled between sleeve 106 and automated coupler 223. Contact regulator201 is configured to, at least one of, cause a limited degree of contactbetween applicator 254 and surface 172 of workpiece 170 or determine atleast one of a presence or a degree of the contact between applicator254 and surface 172 of workpiece 170. The preceding subject matter ofthis paragraph characterizes example 70 of the present disclosure,wherein example 70 also includes the subject matter according to any oneof examples 62-68, above.

Contact regulator 201, being configured to enable a limited degree ofcontact between applicator 254 and surface 172 of workpiece 170,promotes a reduction in potentially damaging impacts from applicator 254to surface 172 of workpiece 170 as applicator 154 delivers glutinoussubstance 168 to surface 172 of workpiece 170. In other words, in someexamples, contact regulator 201 is configured to limit damage toworkpiece 170 or applicator 254 caused by inadvertent impacts betweenapplicator 254 and surface 172 of workpiece 170. Coupling contactregulator 201 between sleeve 106 and automated coupler 223 allowsapparatus 102 to both automatically reversibly sealingly coupleapplicator 254 with leading end 167 of cartridge 166 and enable alimited degree of contact between applicator 254 and surface 172 ofworkpiece 170.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2-12 and 14-17, contact regulator 201 causes the limited degree ofcontact between applicator 254 and surface 172 of workpiece 170 at leastpartially by communicating a command, descriptive of at least one of thepresence or the degree of contact between applicator 245 and surface 172of workpiece 170, to controller 157 to cause robot 152 to moveapplicator 254 responsive to the command. The preceding subject matterof this paragraph characterizes example 71 of the present disclosure,wherein example 71 also includes the subject matter according to example70, above.

Controller 157, being configured to direct robot 152 to move apparatus102 and applicator 254 relative to surface 172 of workpiece 170 based atleast in part on a command, descriptive of at least one of the presenceor the degree of contact between applicator 254 and surface 172 ofworkpiece 170, facilitates automatic adjustment of the position ofapparatus 102 and applicator 254 when the presence or the degree ofcontact between applicator 254 and surface 172 of workpiece 170 isdetermined. Robot 152 facilitates programmable, precise, and responsivecontrol (e.g., movement) of apparatus 102 and applicator 254

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.2-12, 14, and 17, contact regulator 201 comprises first portion 204,fixed relative to sleeve 106, and second portion 206, coupled to firstportion 204 and movable along central axis 121 of sleeve 106 relative tofirst portion 204. Automated coupler 223 is fixed relative to secondportion 206 of contact regulator 201. The preceding subject matter ofthis paragraph characterizes example 72 of the present disclosure,wherein example 72 also includes the subject matter according to any oneof examples 70 or 71, above.

Fixing automated coupler 223 relative to second portion 206 of contactregulator 201 allows apparatus 102 to both automatically reversiblysealingly couple applicator 254 with leading end 167 of cartridge 166and enable a limited degree of contact between applicator 254 andsurface 172 of workpiece 170. Additionally, fixing automated coupler 223relative to second portion 206 of contact regulator 201 facilitatesmovement of automated coupler 223 along central axis 121 of sleeve 106relative to first portion 204 of contact regulator 201.

Referring generally to FIGS. 1A and 1B and particularly to, e.g., FIGS.4, 8-12, 16, and 17, apparatus 102 further comprises adapter tube 226,configured to sealingly engage applicator 254. With cartridge 166received within sleeve 106 and pressure cap 110 in the closed position,adapter tube 226 sealingly engages leading end 167 of cartridge 166.Adapter tube 226 is fixed relative to first portion 204 of contactregulator 201. The preceding subject matter of this paragraphcharacterizes example 73 of the present disclosure, wherein example 73also includes the subject matter according to example 72, above.

Adapter tube 226 facilitates communicative coupling between applicator254, when applicator 254 is fixed to applicator mount 244 andapplication mount 244 is releasably interlocked with engagement assembly224, and cartridge 166. For example, adapter tube 226 provides a fluidconduit through which glutinous substance 168 can flow from cartridge166 to applicator 254. Sealing engagement between adapter tube 226 andleading end 167 of cartridge 166 facilitates containment of glutinoussubstance 168 as it flows from cartridge 166 to adapter tube 226.

Referring generally to, e.g., FIGS. 2-17 and particularly to FIGS. 18Aand 18B, method 300 of delivering glutinous substance 168 from cartridge166 to applicator 254 is disclosed. Method 300 comprises (block 302)receiving cartridge 166 inside sleeve 106 through inlet 124 of sleeve106 when pressure cap 110, coupled to sleeve 106 proximate inlet 124, isin an open position. Cartridge 166 has leading end 167 and trailing end169. Method 300 also comprises (block 304) moving pressure cap 110 intoa closed position to sealingly couple pressure cap 110 with trailing end169 of cartridge 166. Additionally, method 300 comprises (block 306)selectively causing automated coupler 223 to automatically sealinglycouple applicator 254 with leading end 167 of cartridge 166 whencartridge 166 is inside sleeve 106 and pressure cap 110 is in the closedposition. Method 300 further comprises (block 308) applying pressure toglutinous substance 168 in cartridge 166 through first pressure input118 of pressure cap 110 to urge glutinous substance 168 from cartridge166 into applicator 254. The preceding subject matter of this paragraphcharacterizes example 74 of the present disclosure.

Method 300 facilitates a reduction in the labor, time, and inaccuraciesassociated with the application of glutinous substances onto surfaces ofworkpieces. Cartridge 166 provides modular containment of glutinoussubstance 168. Sleeve 106 enables a secure coupling of cartridge 166relative to valve 154. Movement of pressure cap 110 between the openposition and closed position allows both access to sleeve 106 for theinsertion of cartridge 166 into sleeve 106 and the application ofpressure to cartridge 166 for urging glutinous substance 168 out ofsleeve 106. With cartridge 166 received within sleeve 106 and pressurecap 110 in a closed position, cartridge 166 is sealed with applicator254 to enable sealed flow of glutinous substance 168 from cartridge 166to applicator 254 via the application of pressure to glutinous substance168 in cartridge 166. Automated coupler 223 facilitates quick automatedsealed coupling of applicator 254 with apparatus 102 and quick automatedreleasing or decoupling of applicator 254 from apparatus 102.

Referring generally to, e.g., FIGS. 2-5 and 15 and particularly to FIG.18A, according to method 300, (block 316) pressure cap 110 is pivotallycoupled to arm 115. Moving pressure cap 110 into the closed positioncomprises (block 318) rotating arm 115 in a first rotational directionabout axis 117 that is fixed relative to sleeve 106 and that isperpendicular to central axis 121 of sleeve 106. Moving pressure cap 110into the open position comprises (block 314) rotating arm 115 about axis117 in a second rotational direction, opposite the first rotationaldirection. The preceding subject matter of this paragraph characterizesexample 75 of the present disclosure, wherein example 75 also includesthe subject matter according to example 74, above.

Arm 115, being pivotable about axis 117 that is fixed relative to sleeve106 and is perpendicular to central axis 121 of sleeve 106, enablespressure cap 110 to be moved between the closed position, to sealinglyengage trailing end 169 of cartridge 166, and the open position, toprovide clearance sufficient for insertion of cartridge 166 insidesleeve 106 through inlet 124 of sleeve 106 and ejection of cartridge 166from sleeve 106. In other words, arm 115 allows pressure cap 110 to bepivoted into sealed engagement with cartridge 166 and pivoted away fromcartridge 166 to allow cartridge 166 to be inserted into or removed fromsleeve 106.

Referring generally to, e.g., FIGS. 2-5 and 15 and particularly to FIG.18A, according to method 300, moving pressure cap 110 into the closedposition comprises (block 320) torsionally biasing pressure cap 110relative to arm 115. The preceding subject matter of this paragraphcharacterizes example 76 of the present disclosure, wherein example 76also includes the subject matter according to example 75, above.

Because arm 115, to which pressure cap 110 is coupled, rotates to movepressure cap 110 into the closed positioned, in sealed engagement withtrailing end 169 of cartridge 166, enabling pressure cap 110 to pivotrelative to arm 115 allows pressure cap 110 to maintain coaxialalignment with trailing end 169 of cartridge 166 as arm 115 rotates. Bypivotally or torsionally biasing pressure cap 110, biasing element 122ensures pressure cap 110 is coaxially aligned with trailing end 169 ofcartridge 166 as pressure cap 110 initially engages trailing end 169 ofcartridge 166. In this manner, pressure cap 110 can properly engage andseat within trailing end 169 of cartridge 166 without binding with orcrookedly entering trailing end 169 of cartridge 166.

Referring generally to, e.g., FIGS. 2-5 and 15 and particularly to FIG.18B, method 300 further comprises (block 328) releasably lockingpressure cap 110 in the closed position. The preceding subject matter ofthis paragraph characterizes example 77 of the present disclosure,wherein example 77 also includes the subject matter according to any oneof examples 74 or 75, above.

Releasably locking pressure cap 110 in the closed position preventsdisengagement between pressure cap 110 and cartridge 166 should actuator114 fail. In other words, in the event actuator 114 fails to urgepressure cap 110 in closed position, such as due to loss of pressure toor malfunction of actuator 114, while pressure is applied to glutinoussubstance 168 in cartridge 166, releasably locking pressure cap 110 inthe closed position prevents pressure within cartridge 116 frominadvertently moving pressure cap 110 out of the closed position.

Referring generally to, e.g., FIGS. 2-5 and 15 and particularly to FIGS.18A and 18B, according to method 300, moving pressure cap 110 into theclosed position comprises (block 312) pneumatically causing actuator114, coupled to pressure cap 110, to have a first length. Releasablylocking pressure cap 110 in the closed position comprises (block 330)mechanically locking pressure cap 110 in the closed position. Thepreceding subject matter of this paragraph characterizes example 78 ofthe present disclosure, wherein example 78 also includes the subjectmatter according to example 77, above.

Actuator 114 facilitates automated movement of pressure cap 110 into theclosed position. Mechanically locking pressure cap 110 in the closedposition provides a secure and reliable way to prevent disengagementbetween pressure cap 110 and cartridge 166 should actuator 114 fail.

Referring generally to, e.g., FIGS. 2-5 and 15 and particularly to FIG.18B, according to method 300, (block 332) lock mechanism 112 is used tomechanically lock pressure cap 110 in the closed position. When lockmechanism 112 is in a locked position, lock mechanism 112 remains inlocked position if actuator 114 loses pressure. The preceding subjectmatter of this paragraph characterizes example 79 of the presentdisclosure, wherein example 79 also includes the subject matteraccording to example 78, above.

Using lock mechanism 112 to mechanically lock pressure cap 110 in theclosed position prevents disengagement between pressure cap 110 andcartridge 166 should actuator 114 fail. In other words, in the eventactuator 114 fails to urge pressure cap 110 in closed position, such asdue to loss of pressure to or malfunction of actuator 114, whilepressure is applied to glutinous substance 168 in cartridge 166, lockmechanism 112 locks pressure cap 110 in the closed position to preventpressure within cartridge 116 from inadvertently moving pressure cap 110out of the closed position.

Referring generally to, e.g., FIGS. 2-5 and 15 and particularly to FIG.18A, according to method 300, moving pressure cap 110 into the openposition comprises (block 312) pneumatically causing actuator 114 tohave a second length different from the first length. The precedingsubject matter of this paragraph characterizes example 80 of the presentdisclosure, wherein example 80 also includes the subject matteraccording to any one of examples 78 or 79, above.

Actuator 114 facilitates automated movement of pressure cap 110 into theopen position.

Referring generally to, e.g., FIGS. 2-5 and 15 and particularly to FIG.18B, method 300 further comprises (block 334) disabling operation ofactuator 114 while pressure is applied to glutinous substance 168 incartridge 166 through first pressure input 118 of pressure cap 110. Thepreceding subject matter of this paragraph characterizes example 81 ofthe present disclosure, wherein example 81 also includes the subjectmatter according to example 80, above.

Disabling operation of actuator 114 while pressure is being applied toglutinous substance 168 in cartridge 166 through pressure input 118 ofpressure cap 110 prevents actuator 114 from inadvertently openingpressure cap 110 while cartridge 166 is pressurized. Preventing pressurecap 110 from opening while pressure is being applied to glutinoussubstance 168 due to inadvertent actuation of actuator 114 ensurespressure within cartridge 166 is not inadvertently released.

Referring generally to, e.g., FIGS. 2-5 and 15 and particularly to FIG.18B, according to method 300, applying pressure to glutinous substance168 in cartridge 166 through first pressure input 118 of pressure cap110 comprises (block 326) introducing a pressurized gas into cartridge166 through first pressure input 118. The preceding subject matter ofthis paragraph characterizes example 82 of the present disclosure,wherein example 82 also includes the subject matter according to any oneof examples 74-81, above.

Introducing a pressurized gas into cartridge 166 through pressure input118 enables precise application of pneumatic pressure to glutinoussubstance 168 in cartridge 166 to precisely control the flow ofglutinous substance 168 out of cartridge 166 and into applicator 254.Moreover, introducing a pressurized gas into cartridge 166 throughpressure input 118 facilitates the use of automated pneumatic controlsto control the pneumatic operation of pressure input 118 of pressure cap110.

Referring generally to, e.g., FIGS. 2-5 and 15 and particularly to FIG.18B, method 300 further comprises (block 336) sensing a temperature ofglutinous substance 168 in applicator 254. Pressure applied to glutinoussubstance 168 in cartridge 166 through first pressure input 118 ofpressure cap 110 varies responsive to, at least in part, the temperatureof glutinous substance 168, sensed in applicator 254. The precedingsubject matter of this paragraph characterizes example 83 of the presentdisclosure, wherein example 83 also includes the subject matteraccording to example 82, above.

Sensing the temperature of glutinous substance 168 enables detection ofthe pressure of glutinous substance 168 in valve 154. The sensedtemperature of glutinous substance 168 in valve 154 can be used tocontrol the rate at which glutinous substance 168 flows from cartridge166 to valve 154. Varying the pressure applied to glutinous substance168 in cartridge 166 responsive to, at least in part, the sensedtemperature of glutinous substance 168 facilitates a precise andpredictable flow of glutinous substance 168 from applicator 254 tosurface 172 of workpiece 170.

Referring generally to, e.g., FIGS. 2-5 and 15 and particularly to FIG.18B, method 300 further comprises (block 338) sensing a pressure ofglutinous substance 168 in applicator 254. The pressure applied toglutinous substance 168 in cartridge 166 through first pressure input118 of pressure cap 110 varies responsive to, at least in part, thepressure of glutinous substance 168, sensed in applicator 254. Thepreceding subject matter of this paragraph characterizes example 84 ofthe present disclosure, wherein example 84 also includes the subjectmatter according to any one of examples 82 or 83, above.

Sensing the pressure of glutinous substance 168 enables detection of thepressure of glutinous substance 168 in valve 154. The sensed pressure ofglutinous substance 168 in valve 154 can be used to control the rate atwhich glutinous substance 168 flows from cartridge 166 to valve 154.Varying the pressure applied to glutinous substance 168 in cartridge 166responsive to, at least in part, the sensed pressure of glutinoussubstance 168 facilitates a precise and predictable flow of glutinoussubstance 168 from applicator 254 to surface 172 of workpiece 170.

Referring generally to, e.g., FIGS. 4, 8-12, 14, 16, 17 and 15 andparticularly to FIG. 18A, according to method 300, selectively causingautomated coupler 223 to automatically sealingly couple applicator 254with leading end 167 of cartridge 166 comprises (block 324) pressurizinga first pneumatic circuit of engagement assembly 224 to move piston 230relative to sleeve 106 in a first direction to cause engagement assembly224 to interlock with applicator mount 244 that is coupled withapplicator 254. The preceding subject matter of this paragraphcharacterizes example 85 of the present disclosure, wherein example 85also includes the subject matter according to any one of examples 74-84,above.

Releasable interlock between engagement assembly 224 and applicatormount 244 promotes a secure, yet releasable, coupling of applicatormount 244 to engagement assembly 224. Moving piston 230 relative tosleeve 106 in the first direction promotes reliable releasableinterlocking between engagement assembly 224 and applicator mount 244.Moreover, moving piston 230 by pressurizing the first pneumatic circuitof engagement assembly 224 facilitates precise control of the couplingof applicator mount 244 with engagement assembly 224.

In one example, the first pneumatic circuit of engagement assembly 224includes second pressure input 238 and associated pressure tube(s),pressure source(s), and chamber of a cylinder within which piston 230moves.

Referring generally to, e.g., FIGS. 2-5 and 15 and particularly to FIG.18B, method 300 further comprises (block 340) selectively causingautomated coupler 223 to automatically decouple applicator 254 fromleading end 167 of cartridge 166 by pressurizing a second pneumaticcircuit of engagement assembly 224 to move piston 230 relative to sleeve106 in a second direction, opposite the first direction. The precedingsubject matter of this paragraph characterizes example 86 of the presentdisclosure, wherein example 86 also includes the subject matteraccording to example 85, above.

Releasable interlock between engagement assembly 224 and applicatormount 244 promotes a secure, yet releasable, coupling of applicatormount 244 to engagement assembly 224. Moving piston 230 relative tosleeve 106 in the first direction promotes reliable releasableinterlocking between engagement assembly 224 and applicator mount 244.Moreover, moving piston 230 by pressurizing the first pneumatic circuitof engagement assembly 224 facilitates precise control of the couplingof applicator mount 244 with engagement assembly 224.

According to one example, the second pneumatic circuit of engagementassembly 224 includes third pressure input 2240 and associated pressuretube(s), pressure source(s), and chamber of a cylinder within whichpiston 230 moves.

Referring generally to, e.g., FIGS. 2-12 and 14-17 and particularly toFIG. 18C, method 300 further comprises (block 342) limiting a degree ofcontact between applicator 254 and surface 172 of workpiece 170. Thepreceding subject matter of this paragraph characterizes example 87 ofthe present disclosure, wherein example 87 also includes the subjectmatter according to any one of examples 74-86, above.

Limiting the degree of contact between applicator 254 and surface 172 ofworkpiece 170 promotes a reduction in potentially damaging impacts fromapplicator 254 to surface 172 of workpiece 170 as applicator 154delivers glutinous substance 168 to surface 172 of workpiece 170.

Referring generally to, e.g., FIGS. 2-12 and 14-17 and particularly toFIG. 18C, method 300 further comprises (block 348) determining at leastone of a presence or the degree of contact between applicator 254 andsurface 172 of workpiece 170. The preceding subject matter of thisparagraph characterizes example 88 of the present disclosure, whereinexample 88 also includes the subject matter according to example 87,above.

Determining at least one of the presence or the degree of contactbetween applicator 254 and surface 172 of workpiece 170 providesfeedback for controlling movement of apparatus 102 to avoid or reducedamage to surface 172 of workpiece 170 due to inadvertent impactsbetween applicator 254 and surface 172 of workpiece 170. For example,when the presence or the degree of contact between applicator 254 andsurface 272 of workpiece 170 is determined, apparatus 102 can becontrolled to move applicator 254 away from surface 172 of workpiece 170to limit the contact between applicator 254 and surface 172 of workpiece170 and avoid damage to surface 172 of workpiece 170 or to applicator254 or prevent further damage to surface 172 of workpiece 170 or toapplicator 254.

Referring generally to, e.g., FIGS. 2-12 and 14-17 and particularly toFIG. 18C, according to method 300, limiting the degree of contactbetween applicator 254 and surface 172 of workpiece 170 comprises (block344) communicating a command, descriptive of at least one of thepresence or the degree of contact between applicator 245 and surface 172of workpiece 170, to controller 157, configured to cause robot 152 tomove applicator 254 relative to surface 172 of workpiece 170 responsiveto, at least in part, the command. The preceding subject matter of thisparagraph characterizes example 89 of the present disclosure, whereinexample 89 also includes the subject matter according to example 88,above.

Controller 157, being configured to direct robot 152 to move apparatus102 and applicator 254 relative to surface 172 of workpiece 170 based atleast in part on a command, descriptive of at least one of the presenceor the degree of contact between applicator 254 and surface 172 ofworkpiece 170, facilitates automatic adjustment of the position of theapparatus 102 and applicator 254 when the presence or the degree ofcontact between applicator 254 and surface 172 of workpiece 170 isdetermined. Robot 152 facilitates programmable, precise, and responsivecontrol e.g., movement of apparatus 102 and applicator 254.

Referring generally to, e.g., FIGS. 2-12 and 14, and 17 and particularlyto FIG. 18C, according to method 300, limiting the degree of contactbetween applicator 254 and surface 172 of workpiece 170 comprises,(block 346) when applicator 254 contacts surface 172 of workpiece 170and a fixed location on sleeve 106 is within a predetermined spatialrange away from surface 172 of workpiece 170, urging applicator 254,movable relative to sleeve 106, away from sleeve 106 with a biasingforce, whose magnitude is inversely proportional to a distance betweenthe fixed location on sleeve 106 and surface 172 of workpiece 170 and isless than a magnitude of a force sufficient to damage at least one ofapplicator 254 or workpiece 170 during a contact therebetween. Thepreceding subject matter of this paragraph characterizes example 90 ofthe present disclosure, wherein example 90 also includes the subjectmatter according to any one of examples 88 or 89, above.

Biased movement between applicator 254 and sleeve 106 enables applicator254 to, at least partially, give way upon contacting surface 172 ofworkpiece 170 such that impact forces imparted to surface 172 byapplicator 254 are reduced.

In one example, the degree of contact between applicator 254 and surface172 of workpiece 170 is limited by both allowing biased movement ofapplicator 254 relative to sleeve 106, and moving applicator 254 awayfrom surface 172 of workpiece 170 or stopping movement of applicator 254relative to surface 172 of workpiece 170. In this manner, applicator 254is allowed to contact surface 172 of workpiece 170 with a contact forceincapable, or less capable of, damaging workpiece 170 or applicator 254,due to the biased movement of applicator 254 relative to sleeve 106,until the contact force reaches a threshold, associated with a contactforce capable of causing, likely to cause, or soon will cause damage toworkpiece 170 or applicator 254, at which time applicator 254 can bemoved away to reduce or eliminate contact between applicator 254 andsurface 172 of workpiece 170 or movement of applicator 254 can bestopped to ensure contact force does not increase.

Referring generally to, e.g., FIGS. 2-5 and 15 and particularly to FIG.18A, method 300 further comprises (block 310) moving pressure cap 110into an open position to provide clearance sufficient for removal ofcartridge 166 from sleeve 106 through inlet 124 of sleeve 106. Thepreceding subject matter of this paragraph characterizes example 91 ofthe present disclosure, wherein example 91 also includes the subjectmatter according to any one of examples 74-90, above.

Moving pressure cap 110 into the open position enables removal ofcartridge 166 from sleeve 106 and enables insertion of cartridge 166into sleeve 106 without obstruction by pressure cap 110.

Examples of the present disclosure may be described in the context ofaircraft manufacturing and service method 1100 as shown in FIG. 19 andaircraft 1102 as shown in FIG. 20. During pre-production, illustrativemethod 1100 may include specification and design block 1104) of aircraft1102 and material procurement block 1106). During production, componentand subassembly manufacturing block 1108) and system integration block1110) of aircraft 1102 may take place. Thereafter, aircraft 1102 may gothrough certification and delivery block 1112) to be placed in serviceblock 1114). While in service, aircraft 1102 may be scheduled forroutine maintenance and service block 1116). Routine maintenance andservice may include modification, reconfiguration, refurbishment, etc.of one or more systems of aircraft 1102.

Each of the processes of illustrative method 1100 may be performed orcarried out by a system integrator, a third party, and/or an operatore.g., a customer). For the purposes of this description, a systemintegrator may include, without limitation, any number of aircraftmanufacturers and major-system subcontractors; a third party mayinclude, without limitation, any number of vendors, subcontractors, andsuppliers; and an operator may be an airline, leasing company, militaryentity, service organization, and so on.

As shown in FIG. 20, aircraft 1102 produced by illustrative method 1100may include airframe 1118 with a plurality of high-level systems 1120and interior 1122. Examples of high-level systems 1120 include one ormore of propulsion system 1124, electrical system 1126, hydraulic system1128, and environmental system 1130. Any number of other systems may beincluded. Although an aerospace example is shown, the principlesdisclosed herein may be applied to other industries, such as theautomotive industry. Accordingly, in addition to aircraft 1102, theprinciples disclosed herein may apply to other vehicles, e.g., landvehicles, marine vehicles, space vehicles, etc.

Apparatus(es) and method(s) shown or described herein may be employedduring any one or more of the stages of the manufacturing and servicemethod 1100. For example, components or subassemblies corresponding tocomponent and subassembly manufacturing (block 1108) may be fabricatedor manufactured in a manner similar to components or subassembliesproduced while aircraft 1102 is in service (block 1114). Also, one ormore examples of the apparatus(es), method(s), or combination thereofmay be utilized during production stages 1108 and 1110, for example, bysubstantially expediting assembly of or reducing the cost of aircraft1102. Similarly, one or more examples of the apparatus or methodrealizations, or a combination thereof, may be utilized, for example andwithout limitation, while aircraft 1102 is in service (block 1114)and/or during maintenance and service (block 1116).

Different examples of the apparatus(es) and method(s) disclosed hereininclude a variety of components, features, and functionalities. Itshould be understood that the various examples of the apparatus(es) andmethod(s) disclosed herein may include any of the components, features,and functionalities of any of the other examples of the apparatus(es)and method(s) disclosed herein in any combination, and all of suchpossibilities are intended to be within the scope of the presentdisclosure.

Many modifications of examples set forth herein will come to mind to oneskilled in the art to which the present disclosure pertains having thebenefit of the teachings presented in the foregoing descriptions and theassociated drawings.

Therefore, it is to be understood that the present disclosure is not tobe limited to the specific examples illustrated and that modificationsand other examples are intended to be included within the scope of theappended claims. Moreover, although the foregoing description and theassociated drawings describe examples of the present disclosure in thecontext of certain illustrative combinations of elements and/orfunctions, it should be appreciated that different combinations ofelements and/or functions may be provided by alternative implementationswithout departing from the scope of the appended claims. Accordingly,parenthetical reference numerals in the appended claims are presentedfor illustrative purposes only and are not intended to limit the scopeof the claimed subject matter to the specific examples provided in thepresent disclosure.

1-73. (canceled)
 74. A method (300) of delivering a glutinous substance(168) from a cartridge (166) to an applicator (254), the method (300)comprising: receiving the cartridge (166) inside a sleeve (106) throughan inlet (124) of the sleeve (106) when a pressure cap (110), coupled tothe sleeve (106) proximate the inlet (124), is in an open position,wherein the cartridge (166) has a leading end (167) and a trailing end(169); moving the pressure cap (110) into a closed position to sealinglycouple the pressure cap (110) with the trailing end (169) of thecartridge (166); selectively causing an automated coupler (223) toautomatically sealingly couple the applicator (254) with the leading end(167) of the cartridge (166) when the cartridge (166) is inside thesleeve (106) and the pressure cap (110) is in the closed position; andapplying pressure to the glutinous substance (168) in the cartridge(166) through a first pressure input (118) of the pressure cap (110) tourge the glutinous substance (168) from the cartridge (166) into theapplicator (254).
 75. The method (300) according to claim 74, wherein:the pressure cap (110) is pivotally coupled to an arm (115); moving thepressure cap (110) into the closed position comprises rotating the arm(115) in a first rotational direction about an axis (117) that is fixedrelative to the sleeve (106) and that is perpendicular to a central axis(121) of the sleeve (106); and moving the pressure cap (110) into theopen position comprises rotating the arm (115) about the axis (117) in asecond rotational direction, opposite the first rotational direction.76. The method (300) according to claim 75, wherein moving the pressurecap (110) into the closed position comprises torsionally biasing thepressure cap (110) relative to the arm (115).
 77. The method (300)according to claim 74, further comprising releasably locking thepressure cap (110) in the closed position.
 78. The method (300)according to claim 77, wherein: moving the pressure cap (110) into theclosed position comprises pneumatically causing an actuator (114),coupled to the pressure cap (110), to have a first length; andreleasably locking the pressure cap (110) in the closed positioncomprises mechanically locking the pressure cap (110) in the closedposition.
 79. The method (300) according to claim 78, wherein: a lockmechanism (112) is used to mechanically lock the pressure cap (110) inthe closed position; and when the lock mechanism (112) is in a lockedposition, the lock mechanism (112) remains in the locked position if theactuator (114) loses pressure.
 80. The method (300) according to claim78, wherein moving the pressure cap (110) into the open positioncomprises pneumatically causing the actuator (114) to have a secondlength different from the first length.
 81. The method (300) accordingto claim 80, further comprising disabling operation of the actuator(114) while pressure is applied to the glutinous substance (168) in thecartridge (166) through the first pressure input (118) of the pressurecap (110).
 82. The method (300) according to claim 74, wherein applyingpressure to the glutinous substance (168) in the cartridge (166) throughthe first pressure input (118) of the pressure cap (110) comprisesintroducing a pressurized gas into the cartridge (166) through the firstpressure input (118).
 83. The method (300) according to claim 82,further comprising sensing a temperature of the glutinous substance(168) in the applicator (254), wherein the pressure applied to theglutinous substance (168) in the cartridge (166) through the firstpressure input (118) of the pressure cap (110) varies responsive to, atleast in part, the temperature of the glutinous substance (168), sensedin the applicator (254).
 84. The method (300) according to claim 82,further comprising sensing a pressure of the glutinous substance (168)in the applicator (254), wherein the pressure applied to the glutinoussubstance (168) in the cartridge (166) through the first pressure input(118) of the pressure cap (110) varies responsive to, at least in part,the pressure of the glutinous substance (168), sensed in the applicator(254).
 85. The method (300) according to claim 74, wherein selectivelycausing the automated coupler (223) to automatically sealingly couplethe applicator (254) with the leading end (167) of the cartridge (166)comprises pressurizing a first pneumatic circuit of an engagementassembly (224) to move a piston (230) relative to the sleeve (106) in afirst direction to cause the engagement assembly (224) to interlock withan applicator mount (244) that is coupled with the applicator (254). 86.The method (300) according to claim 85, further comprising selectivelycausing the automated coupler (223) to automatically decouple theapplicator (254) from the leading end (167) of the cartridge (166) bypressurizing a second pneumatic circuit of the engagement assembly (224)to move the piston (230) relative to the sleeve (106) in a seconddirection, opposite the first direction.
 87. The method (300) accordingto claim 74, further comprising limiting a degree of contact between theapplicator (254) and a surface (172) of a workpiece (170).
 88. Themethod (300) according to claim 87, further comprising determining atleast one of a presence or the degree of contact between the applicator(254) and the surface (172) of a workpiece (170).
 89. The method (300)according to claim 88, wherein limiting the degree of contact betweenthe applicator (254) and the surface (172) of the workpiece (170)comprises communicating a command, descriptive of at least one of thepresence or the degree of contact between the applicator (245) and thesurface (172) of the workpiece (170), to a controller (157), configuredto cause a robot (152) to move the applicator (254) relative to thesurface (172) of the workpiece (170) responsive to, at least in part,the command.
 90. The method (300) according to claim 88, whereinlimiting the degree of contact between the applicator (254) and thesurface (172) of the workpiece (170) comprises, when the applicator(254) contacts the surface (172) of the workpiece (170) and a fixedlocation on the sleeve (106) is within a predetermined spatial rangeaway from the surface (172) of the workpiece (170), urging theapplicator (254), movable relative to the sleeve (106), away from thesleeve (106) with a biasing force, whose magnitude is inverselyproportional to a distance between the fixed location on the sleeve(106) and the surface (172) of the workpiece (170) and is less than amagnitude of a force sufficient to damage at least one of the applicator(254) or the workpiece (170) during a contact therebetween.
 91. Themethod (300) according to claim 74, further comprising moving thepressure cap (110) into an open position to provide clearance sufficientfor removal of the cartridge (166) from the sleeve (106) through theinlet (124) of the sleeve (106).
 92. The method (300) according to claim74, wherein: the automated coupler (223) comprises an applicator mount(244), configured to fixedly receive the applicator (254) and comprisinga geometric feature (250) that comprises a first surface (253), obliqueto a central axis (121) of the sleeve (106); the automated coupler (223)further comprises an engagement assembly (224), coupled to the sleeve(106); the engagement assembly (224) is configured to releasablyinterlock with the applicator mount (244) and comprises at least onedetent (234); the at least one detent (134) is engageable with the firstsurface (253) of the geometric feature (250) of the applicator mount(244) to couple the engagement assembly (224) with the applicator mount(244); and the at least one detent (134) is disengageable from the firstsurface (253) of the geometric feature (250) of the applicator mount(244) to decouple the engagement assembly (224) from the applicatormount (244).
 93. The method (300) according to claim 74, wherein thepressure applied to the glutinous substance (168) in the cartridge (166)is pneumatic pressure.